HQPOutput.hpp
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1 //
2 // Copyright (c) 2018 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
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10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
13 // received a copy of the GNU Lesser General Public License along with
14 // tsid If not, see
15 // <http://www.gnu.org/licenses/>.
16 //
17 
18 #ifndef __tsid_python_HQPOutput_hpp__
19 #define __tsid_python_HQPOutput_hpp__
20 
22 
24 
25 namespace tsid
26 {
27  namespace python
28  {
29  namespace bp = boost::python;
30 
31  template<typename T>
33  : public boost::python::def_visitor< HQPOutputPythonVisitor<T> >
34  {
35  template<class PyClass>
36 
37  void visit(PyClass& cl) const
38  {
39  cl
40  .def(bp::init<>("Defulat Constructor"))
41  .def(bp::init<int, int, int>((bp::args("nVars", "nEq", "nInCon"))))
42  .add_property("x", &HQPOutputPythonVisitor::x)
43  .add_property("status", &HQPOutputPythonVisitor::status)
44  ;
45  }
46  static Eigen::VectorXd x (const T & self) {return self.x;}
47  static int status (const T & self) {return self.status;}
48  static void expose(const std::string & class_name)
49  {
50  std::string doc = "HQPOutput info.";
51  bp::class_<T>(class_name.c_str(),
52  doc.c_str(),
53  bp::no_init)
55  }
56  };
57  }
58 }
59 
60 
61 #endif // ifndef __tsid_python_HQPOutput_hpp__
static void expose(const std::string &class_name)
Definition: HQPOutput.hpp:48
static int status(const T &self)
Definition: HQPOutput.hpp:47
static Eigen::VectorXd x(const T &self)
Definition: HQPOutput.hpp:46
Definition: constraint-bound.hpp:26
Definition: HQPOutput.hpp:32
void visit(PyClass &cl) const
Definition: HQPOutput.hpp:37