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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.hpp>
#include <pybind11/pybind11.h>
namespace py = pybind11;
namespace dart {
namespace python {
void Composite(py::module& m)
{
::py::
class_<dart::common::Composite, std::shared_ptr<dart::common::Composite>>(
m, "Composite")
.def(::py::init<>())
.def(
"setCompositeState",
+[](dart::common::Composite* self,
const dart::common::Composite::State& newStates) {
self->setCompositeState(newStates);
},
::py::arg("newStates"))
.def(
"getCompositeState",
+[](const dart::common::Composite* self)
-> dart::common::Composite::State {
return self->getCompositeState();
})
.def(
"copyCompositeStateTo",
+[](const dart::common::Composite* self,
dart::common::Composite::State& outgoingStates) {
self->copyCompositeStateTo(outgoingStates);
},
::py::arg("outgoingStates"))
.def(
"setCompositeProperties",
+[](dart::common::Composite* self,
const dart::common::Composite::Properties& newProperties) {
self->setCompositeProperties(newProperties);
},
::py::arg("newProperties"))
.def(
"getCompositeProperties",
+[](const dart::common::Composite* self)
-> dart::common::Composite::Properties {
return self->getCompositeProperties();
})
.def(
"copyCompositePropertiesTo",
+[](const dart::common::Composite* self,
dart::common::Composite::Properties& outgoingProperties) {
self->copyCompositePropertiesTo(outgoingProperties);
},
::py::arg("outgoingProperties"))
.def(
"duplicateAspects",
+[](dart::common::Composite* self,
const dart::common::Composite* fromComposite) {
self->duplicateAspects(fromComposite);
},
::py::arg("fromComposite"))
.def(
"matchAspects",
+[](dart::common::Composite* self,
const dart::common::Composite* otherComposite) {
self->matchAspects(otherComposite);
},
::py::arg("otherComposite"));
}
} // namespace python
} // namespace dart
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