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18 #ifndef __tsid_python_task_cop_hpp__
19 #define __tsid_python_task_cop_hpp__
32 namespace bp = boost::python;
34 template<
typename TaskCOP>
36 :
public boost::python::def_visitor< TaskCOPEqualityPythonVisitor<TaskCOP> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &> ((bp::arg(
"name"), bp::arg(
"robot")),
"Default Constructor"))
46 .add_property(
"dim", &TaskCOP::dim,
"return dimension size")
54 static std::string
name(TaskCOP &
self){
55 std::string
name =
self.name();
59 self.compute(t, q, v, data);
67 static void setReference(TaskCOP &
self,
const Eigen::Vector3d & ref){
68 self.setReference(ref);
71 self.setContactNormal(n);
73 static void expose(
const std::string & class_name)
75 std::string doc =
"TaskCOPEqualityPythonVisitor info.";
76 bp::class_<TaskCOP>(class_name.c_str(),
86 #endif // ifndef __tsid_python_task_cop_hpp__
static math::ConstraintEquality getConstraint(const TaskCOP &self)
Definition: task-cop-equality.hpp:63
Definition: constraint-equality.hpp:28
static void setReference(TaskCOP &self, const Eigen::Vector3d &ref)
Definition: task-cop-equality.hpp:67
Definition: task-cop-equality.hpp:35
static void expose(const std::string &class_name)
Definition: task-cop-equality.hpp:73
static std::string name(TaskCOP &self)
Definition: task-cop-equality.hpp:54
Definition: constraint-bound.hpp:26
static math::ConstraintEquality compute(TaskCOP &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-cop-equality.hpp:58
void visit(PyClass &cl) const
Definition: task-cop-equality.hpp:42
static void setContactNormal(TaskCOP &self, const Eigen::Vector3d &n)
Definition: task-cop-equality.hpp:70