18 #ifndef __tsid_python_task_joint_bounds_hpp__ 19 #define __tsid_python_task_joint_bounds_hpp__ 32 namespace bp = boost::python;
34 template<
typename Task>
36 :
public boost::python::def_visitor< TaskJointBoundsPythonVisitor<Task> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &, double> ((bp::arg(
"name"), bp::arg(
"robot"), bp::arg(
"Time step")),
"Default Constructor"))
46 .add_property(
"dim", &Task::dim,
"return dimension size")
59 static std::string
name(Task &
self){
60 std::string
name =
self.name();
64 self.compute(t, q, v, data);
77 return self.getAccelerationLowerBounds();
80 return self.getAccelerationUpperBounds();
83 return self.getVelocityLowerBounds();
86 return self.getVelocityUpperBounds();
89 return self.setTimeStep(dt);
91 static void setVelocityBounds (Task &
self,
const Eigen::VectorXd lower,
const Eigen::VectorXd upper){
92 return self.setVelocityBounds(lower, upper);
95 return self.setAccelerationBounds(lower, upper);
97 static void expose(
const std::string & class_name)
99 std::string doc =
"Task info.";
100 bp::class_<Task>(class_name.c_str(),
110 #endif // ifndef __tsid_python_task_actuation_bounds_hpp__ void visit(PyClass &cl) const
Definition: task-joint-bounds.hpp:42
static const Eigen::VectorXd & getAccelerationLowerBounds(const Task &self)
Definition: task-joint-bounds.hpp:76
static math::ConstraintBound compute(Task &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-joint-bounds.hpp:63
static const Eigen::VectorXd & getVelocityUpperBounds(const Task &self)
Definition: task-joint-bounds.hpp:85
static void setAccelerationBounds(Task &self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)
Definition: task-joint-bounds.hpp:94
static std::string name(Task &self)
Definition: task-joint-bounds.hpp:59
static void setTimeStep(Task &self, const double dt)
Definition: task-joint-bounds.hpp:88
Definition: task-joint-bounds.hpp:35
static const Eigen::VectorXd & getAccelerationUpperBounds(const Task &self)
Definition: task-joint-bounds.hpp:79
static void expose(const std::string &class_name)
Definition: task-joint-bounds.hpp:97
static const Eigen::VectorXd & getVelocityLowerBounds(const Task &self)
Definition: task-joint-bounds.hpp:82
static void setVelocityBounds(Task &self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)
Definition: task-joint-bounds.hpp:91
Definition: constraint-bound.hpp:28
Definition: constraint-bound.hpp:26
static math::ConstraintBound getConstraint(const Task &self)
Definition: task-joint-bounds.hpp:70