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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 <eigen_geometry_pybind.h>
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
namespace dart {
namespace python {
#define DARTPY_DEFINE_JOINT_COMMON_BASE(type, space) \
::pybind11::class_< \
dart::common::SpecializedForAspect< \
dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>, \
dart::common::Composite, \
std::shared_ptr<dart::common::SpecializedForAspect< \
dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>>>( \
m, \
"SpecializedForAspect_EmbeddedPropertiesAspect_" #type "_" #type \
"UniqueProperties") \
.def(::pybind11::init<>()); \
\
::pybind11::class_< \
dart::common::RequiresAspect<dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>, \
dart::common::SpecializedForAspect< \
dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>, \
std::shared_ptr< \
dart::common::RequiresAspect<dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>>>( \
m, \
"RequiresAspect_EmbeddedPropertiesAspect_" #type "_" #type \
"UniqueProperties") \
.def(::pybind11::init<>()); \
\
::pybind11::class_< \
dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>, \
dart::common::RequiresAspect<dart::common::EmbeddedPropertiesAspect< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>, \
std::shared_ptr<dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>>>( \
m, "EmbedProperties_" #type "_" #type "UniqueProperties"); \
\
::pybind11::class_< \
dart::common::CompositeJoiner< \
dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>, \
dart::dynamics::GenericJoint<dart::math::space>>, \
dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>, \
dart::dynamics::GenericJoint<dart::math::space>, \
std::shared_ptr<dart::common::CompositeJoiner< \
dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>, \
dart::dynamics::GenericJoint<dart::math::space>>>>( \
m, \
"CompositeJoiner_EmbedProperties_" #type "_" #type \
"UniqueProperties_GenericJoint_" #space); \
\
::pybind11::class_< \
dart::common::EmbedPropertiesOnTopOf< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties, \
dart::dynamics::GenericJoint<dart::math::space>>, \
dart::common::CompositeJoiner< \
dart::common::EmbedProperties< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties>, \
dart::dynamics::GenericJoint<dart::math::space>>, \
std::shared_ptr<dart::common::EmbedPropertiesOnTopOf< \
dart::dynamics::type, \
dart::dynamics::detail::type##UniqueProperties, \
dart::dynamics::GenericJoint<dart::math::space>>>>( \
m, \
"EmbedPropertiesOnTopOf_" #type "_" #type \
"UniqueProperties_GenericJoint_" #space);
} // namespace python
} // namespace dart
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