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18 #ifndef __tsid_python_task_actuation_bounds_hpp__
19 #define __tsid_python_task_actuation_bounds_hpp__
32 namespace bp = boost::python;
34 template<
typename Task>
36 :
public boost::python::def_visitor< TaskActuationBoundsPythonVisitor<Task> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &> ((bp::arg(
"name"), bp::arg(
"robot")),
"Default Constructor"))
46 .add_property(
"dim", &Task::dim,
"return dimension size")
57 static std::string
name(Task &
self){
58 std::string
name =
self.name();
62 self.compute(t, q, v, data);
72 static const Eigen::VectorXd &
getmask(
const Task &
self){
75 static void setmask (Task &
self,
const Eigen::VectorXd mask){
76 return self.mask(mask);
79 return self.getLowerBounds();
82 return self.getUpperBounds();
84 static void setBounds (Task &
self,
const Eigen::VectorXd lower,
const Eigen::VectorXd upper){
85 return self.setBounds(lower, upper);
87 static void expose(
const std::string & class_name)
89 std::string doc =
"Task info.";
90 bp::class_<Task>(class_name.c_str(),
100 #endif // ifndef __tsid_python_task_actuation_bounds_hpp__
static void setBounds(Task &self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)
Definition: task-actuation-bounds.hpp:84
Definition: task-actuation-bounds.hpp:35
static math::ConstraintInequality compute(Task &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-actuation-bounds.hpp:61
static void setmask(Task &self, const Eigen::VectorXd mask)
Definition: task-actuation-bounds.hpp:75
static void expose(const std::string &class_name)
Definition: task-actuation-bounds.hpp:87
void visit(PyClass &cl) const
Definition: task-actuation-bounds.hpp:42
Definition: constraint-inequality.hpp:28
Definition: constraint-bound.hpp:26
static const Eigen::VectorXd & getmask(const Task &self)
Definition: task-actuation-bounds.hpp:72
static math::ConstraintInequality getConstraint(const Task &self)
Definition: task-actuation-bounds.hpp:67
static const Eigen::VectorXd & getUpperBounds(const Task &self)
Definition: task-actuation-bounds.hpp:81
static std::string name(Task &self)
Definition: task-actuation-bounds.hpp:57
static const Eigen::VectorXd & getLowerBounds(const Task &self)
Definition: task-actuation-bounds.hpp:78