18 #ifndef __tsid_python_HQPOutput_hpp__ 19 #define __tsid_python_HQPOutput_hpp__ 23 #include <pinocchio/bindings/python/utils/deprecation.hpp> 42 namespace bp = boost::python;
46 :
public boost::python::def_visitor< InvDynPythonVisitor<T> >
48 template<
class PyClass>
53 .def(bp::init<std::string, robots::RobotWrapper &, bool>((bp::args(
"name",
"robot",
"verbose"))))
55 .add_property(
"nVar", &T::nVar)
56 .add_property(
"nEq", &T::nEq)
57 .add_property(
"nIn", &T::nIn)
70 "Method addRigidContact(ContactBase) is deprecated. You should use addRigidContact(ContactBase, double) instead"))
92 return self.addMotionTask(task, weight, priorityLevel, transition_duration);
95 return self.addMotionTask(task, weight, priorityLevel, transition_duration);
98 return self.addMotionTask(task, weight, priorityLevel, transition_duration);
101 return self.addMotionTask(task, weight, priorityLevel, transition_duration);
104 return self.addMotionTask(task, weight, priorityLevel, transition_duration);
107 return self.addForceTask(task, weight, priorityLevel, transition_duration);
110 return self.addActuationTask(task, weight, priorityLevel, transition_duration);
113 return self.updateTaskWeight(task_name, weight);
116 return self.updateRigidContactWeights(contact_name, force_regularization_weight);
119 return self.updateRigidContactWeights(contact_name, force_regularization_weight, motion_weight);
122 return self.addRigidContact(contact, 1e-5);
125 return self.addRigidContact(contact, force_regularization_weight);
128 double force_regularization_weight,
129 double motion_weight,
130 const bool priority_level){
131 return self.addRigidContact(contact, force_regularization_weight, motion_weight, priority_level);
134 return self.addRigidContact(contact, force_regularization_weight);
137 double force_regularization_weight,
138 double motion_weight,
139 const bool priority_level){
140 return self.addRigidContact(contact, force_regularization_weight, motion_weight, priority_level);
142 static bool removeTask(T&
self,
const std::string & task_name,
double transition_duration){
143 return self.removeTask(task_name, transition_duration);
145 static bool removeRigidContact(T&
self,
const std::string & contactName,
double transition_duration){
146 return self.removeRigidContact(contactName, transition_duration);
149 return self.removeFromHqpData(constraintName);
157 return self.getActuatorForces(sol);
160 return self.getAccelerations(sol);
163 return self.getContactForces(sol);
172 return self.getContactForces(name, sol);
176 static void expose(
const std::string & class_name)
178 std::string doc =
"InvDyn info.";
179 bp::class_<T>(class_name.c_str(),
189 #endif // ifndef __tsid_python_HQPOutput_hpp__ static bool addMotionTask_AM(T &self, tasks::TaskAMEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:103
Definition: solver-HQP-output.hpp:32
static HQPDatas computeProblemData(T &self, double time, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
Definition: formulation.hpp:151
Definition: task-joint-posture.hpp:31
Definition: task-angular-momentum-equality.hpp:34
static bool addActuationTask_Bounds(T &self, tasks::TaskActuationBounds &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:109
static bool removeRigidContact(T &self, const std::string &contactName, double transition_duration)
Definition: formulation.hpp:145
static bool addRigidContactPointWithPriorityLevel(T &self, contacts::ContactPoint &contact, double force_regularization_weight, double motion_weight, const bool priority_level)
Definition: formulation.hpp:136
static bool addMotionTask_SE3(T &self, tasks::TaskSE3Equality &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:91
static bool updateTaskWeight(T &self, const std::string &task_name, double weight)
Definition: formulation.hpp:112
static bool removeTask(T &self, const std::string &task_name, double transition_duration)
Definition: formulation.hpp:142
Definition: task-se3-equality.hpp:33
static Eigen::VectorXd getAccelerations(T &self, const solvers::HQPOutput &sol)
Definition: formulation.hpp:159
static bool updateRigidContactWeights(T &self, const std::string &contact_name, double force_regularization_weight)
Definition: formulation.hpp:115
static pinocchio::Data data(T &self)
Definition: formulation.hpp:87
static bool addMotionTask_Joint(T &self, tasks::TaskJointPosture &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:97
Definition: container.hpp:75
static void expose(const std::string &class_name)
Definition: formulation.hpp:176
static bool addForceTask_COP(T &self, tasks::TaskCopEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:106
static bool removeFromHqpData(T &self, const std::string &constraintName)
Definition: formulation.hpp:148
bool set(HQPData data)
Definition: container.hpp:117
Definition: task-joint-bounds.hpp:29
static bool addMotionTask_JointBounds(T &self, tasks::TaskJointBounds &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:100
static bool updateRigidContactWeightsWithMotionWeight(T &self, const std::string &contact_name, double force_regularization_weight, double motion_weight)
Definition: formulation.hpp:118
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
static bool addRigidContact6dWithPriorityLevel(T &self, contacts::Contact6d &contact, double force_regularization_weight, double motion_weight, const bool priority_level)
Definition: formulation.hpp:127
static Eigen::VectorXd getContactForce(T &self, const std::string &name, const solvers::HQPOutput &sol)
Definition: formulation.hpp:171
static bool addMotionTask_COM(T &self, tasks::TaskComEquality &task, double weight, unsigned int priorityLevel, double transition_duration)
Definition: formulation.hpp:94
Definition: formulation.hpp:45
static bool addRigidContact6d(T &self, contacts::Contact6d &contact, double force_regularization_weight)
Definition: formulation.hpp:124
void visit(PyClass &cl) const
Definition: formulation.hpp:50
static Eigen::VectorXd getActuatorForces(T &self, const solvers::HQPOutput &sol)
Definition: formulation.hpp:156
Definition: constraint-bound.hpp:26
static Eigen::VectorXd getContactForces(T &self, const solvers::HQPOutput &sol)
Definition: formulation.hpp:162
static bool addRigidContactPoint(T &self, contacts::ContactPoint &contact, double force_regularization_weight)
Definition: formulation.hpp:133
Definition: task-actuation-bounds.hpp:30
static bool addRigidContact6dDeprecated(T &self, contacts::Contact6d &contact)
Definition: formulation.hpp:121
Definition: task-cop-equality.hpp:32
Definition: task-com-equality.hpp:31
static bool checkContact(T &self, const std::string &name, const solvers::HQPOutput &sol)
Definition: formulation.hpp:165