constraint-inequality.hpp
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17 #ifndef __tsid_python_constriant_inequality_hpp__
18 #define __tsid_python_constriant_inequality_hpp__
19 
21 
23 
24 namespace tsid
25 {
26  namespace python
27  {
28  namespace bp = boost::python;
29 
30  template<typename ConstraintInequality>
32  : public boost::python::def_visitor< ConstraintIneqPythonVisitor<ConstraintInequality> >
33  {
34  template<class PyClass>
35 
36  void visit(PyClass& cl) const
37  {
38  cl
39  .def(bp::init<std::string>((bp::arg("name")), "Default constructor with name."))
40  .def(bp::init<std::string, unsigned int, unsigned int>((bp::arg("name"), bp::arg("row"), bp::arg("col")), "Default constructor with name and size."))
41  .def(bp::init<std::string, Eigen::MatrixXd, Eigen::VectorXd, Eigen::VectorXd>((bp::arg("name"), bp::arg("A"), bp::arg("lb"), bp::arg("ub")), "Default constructor with name and constraint."))
42 
43  .add_property("rows", &ConstraintInequality::rows)
44  .add_property("cols", &ConstraintInequality::cols)
45  .def("resize",&ConstraintInequality::resize, (bp::arg("r"), bp::arg("c")),"Resize constraint size.")
46 
47  .add_property("isEquality", &ConstraintInequality::isEquality)
48  .add_property("isInequality", &ConstraintInequality::isInequality)
49  .add_property("isBound", &ConstraintInequality::isBound)
50 
51  .add_property("matrix", &ConstraintIneqPythonVisitor::matrix)
52  .add_property("vector", &ConstraintIneqPythonVisitor::vector)
53  .add_property("lowerBound", &ConstraintIneqPythonVisitor::lowerBound)
54  .add_property("upperBound", &ConstraintIneqPythonVisitor::upperBound)
55 
56  .def("setMatrix", (bool (ConstraintInequality::*)(const Eigen::MatrixXd &) const) &ConstraintInequality::setMatrix, bp::args("matrix"), "Set Matrix")
57  .def("setVector", (bool (ConstraintInequality::*)(const Eigen::VectorXd &) const) &ConstraintInequality::setVector, bp::args("vector"), "Set Vector")
58  .def("setLowerBound", (bool (ConstraintInequality::*)(const Eigen::VectorXd &) const) &ConstraintInequality::setLowerBound, bp::args("lb"), "Set LowerBound")
59  .def("setUpperBound", (bool (ConstraintInequality::*)(const Eigen::VectorXd &) const) &ConstraintInequality::setUpperBound, bp::args("ub"), "Set UpperBound")
60  ;
61  }
62  static Eigen::MatrixXd matrix (const ConstraintInequality & self) {return self.matrix();}
63  static Eigen::VectorXd vector (const ConstraintInequality & self) {return self.vector();}
64  static Eigen::VectorXd lowerBound (const ConstraintInequality & self) {return self.lowerBound();}
65  static Eigen::VectorXd upperBound (const ConstraintInequality & self) {return self.upperBound();}
66 
67  static void expose(const std::string & class_name)
68  {
69  std::string doc = "Constraint Inequality info.";
70  bp::class_<ConstraintInequality>(class_name.c_str(),
71  doc.c_str(),
72  bp::no_init)
74  }
75  };
76  }
77 }
78 
79 
80 #endif // ifndef __tsid_python_constriant_inequality_hpp__
tsid::python::ConstraintIneqPythonVisitor::visit
void visit(PyClass &cl) const
Definition: constraint-inequality.hpp:36
tsid::python::ConstraintIneqPythonVisitor
Definition: constraint-inequality.hpp:31
tsid::python::ConstraintIneqPythonVisitor::expose
static void expose(const std::string &class_name)
Definition: constraint-inequality.hpp:67
tsid::python::ConstraintIneqPythonVisitor::vector
static Eigen::VectorXd vector(const ConstraintInequality &self)
Definition: constraint-inequality.hpp:63
tsid::python::ConstraintIneqPythonVisitor::lowerBound
static Eigen::VectorXd lowerBound(const ConstraintInequality &self)
Definition: constraint-inequality.hpp:64
constraint-inequality.hpp
tsid
Definition: constraint-bound.hpp:26
tsid::python::ConstraintIneqPythonVisitor::upperBound
static Eigen::VectorXd upperBound(const ConstraintInequality &self)
Definition: constraint-inequality.hpp:65
fwd.hpp
tsid::python::ConstraintIneqPythonVisitor::matrix
static Eigen::MatrixXd matrix(const ConstraintInequality &self)
Definition: constraint-inequality.hpp:62