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18 #ifndef __tsid_python_traj_sample_hpp__
19 #define __tsid_python_traj_sample_hpp__
27 #include <pinocchio/bindings/python/utils/deprecation.hpp>
33 namespace bp = boost::python;
36 template<
typename TrajSample>
38 :
public boost::python::def_visitor< TrajectorySamplePythonVisitor<TrajSample> >
41 template<
class PyClass>
46 .def(bp::init<unsigned int>((bp::arg(
"size")),
"Default Constructor with size"))
47 .def(bp::init<unsigned int, unsigned int>((bp::arg(
"value_size"), bp::arg(
"derivative_size")),
"Default Constructor with value and derivative size"))
63 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .value"))
65 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .derivative"))
67 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .second_derivative"))
70 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .value"))
72 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .value"))
74 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .derivative"))
76 pinocchio::python::deprecated_function<>(
"This method is now deprecated. Please use .second_derivative"))
81 assert (
self.getValue().size() ==
value.size());
85 assert (
self.getValue().size() == 12);
92 assert (
self.getDerivative().size() ==
derivative.size());
99 static void resize(TrajSample &
self,
const unsigned int & size){
100 self.resize(size, size);
102 static void resize2(TrajSample &
self,
const unsigned int & value_size,
const unsigned int & derivative_size){
103 self.resize(value_size, derivative_size);
105 static Eigen::VectorXd
value(
const TrajSample &
self){
106 return self.getValue();
109 return self.getDerivative();
112 return self.getSecondDerivative();
115 static void expose(
const std::string & class_name)
117 std::string doc =
"Trajectory Sample info.";
118 bp::class_<TrajSample>(class_name.c_str(),
128 #endif // ifndef __tsid_python_traj_euclidian_hpp__
static Eigen::VectorXd derivative(const TrajSample &self)
Definition: trajectory-base.hpp:108
#define TSID_DISABLE_WARNING_POP
Definition: macros.hpp:23
#define TSID_DISABLE_WARNING_DEPRECATED
Definition: macros.hpp:24
#define TSID_DISABLE_WARNING_PUSH
Definition: macros.hpp:22
static void setsecond_derivative(TrajSample &self, const Eigen::VectorXd second_derivative)
Definition: trajectory-base.hpp:95
static Eigen::VectorXd second_derivative(const TrajSample &self)
Definition: trajectory-base.hpp:111
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
static void expose(const std::string &class_name)
Definition: trajectory-base.hpp:115
static void setvalue_se3(TrajSample &self, const pinocchio::SE3 &value)
Definition: trajectory-base.hpp:84
static void resize2(TrajSample &self, const unsigned int &value_size, const unsigned int &derivative_size)
Definition: trajectory-base.hpp:102
void SE3ToVector(const pinocchio::SE3 &M, RefVector vec)
Definition: utils.cpp:32
static void resize(TrajSample &self, const unsigned int &size)
Definition: trajectory-base.hpp:99
static Eigen::VectorXd value(const TrajSample &self)
Definition: trajectory-base.hpp:105
Definition: constraint-bound.hpp:26
static void setvalue_vec(TrajSample &self, const Eigen::VectorXd value)
Definition: trajectory-base.hpp:80
Definition: trajectory-base.hpp:37
static void setderivative(TrajSample &self, const Eigen::VectorXd derivative)
Definition: trajectory-base.hpp:91
void visit(PyClass &cl) const
Definition: trajectory-base.hpp:43