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/*
* Copyright (c) 2011-2022, 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 ConstraintBase(py::module& m)
{
::py::class_<
dart::constraint::ConstraintBase,
std::shared_ptr<dart::constraint::ConstraintBase> >(m, "ConstraintBase")
.def(
"getType",
+[](const dart::constraint::ConstraintBase* self) -> std::string {
return self->getType();
})
.def(
"getDimension",
+[](const dart::constraint::ConstraintBase* self) -> std::size_t {
return self->getDimension();
})
.def(
"update",
+[](dart::constraint::ConstraintBase* self) { self->update(); })
.def(
"getInformation",
+[](dart::constraint::ConstraintBase* self,
dart::constraint::ConstraintInfo* info) {
self->getInformation(info);
},
::py::arg("info"))
.def(
"applyUnitImpulse",
+[](dart::constraint::ConstraintBase* self, std::size_t index) {
self->applyUnitImpulse(index);
},
::py::arg("index"))
.def(
"getVelocityChange",
+[](dart::constraint::ConstraintBase* self,
double* vel,
bool withCfm) { self->getVelocityChange(vel, withCfm); },
::py::arg("vel"),
::py::arg("withCfm"))
.def(
"excite",
+[](dart::constraint::ConstraintBase* self) { self->excite(); })
.def(
"unexcite",
+[](dart::constraint::ConstraintBase* self) { self->unexcite(); })
.def(
"applyImpulse",
+[](dart::constraint::ConstraintBase* self, double* lambda) {
self->applyImpulse(lambda);
},
::py::arg("lambda"))
.def(
"isActive",
+[](const dart::constraint::ConstraintBase* self) -> bool {
return self->isActive();
})
.def(
"getRootSkeleton",
+[](const dart::constraint::ConstraintBase* self)
-> dart::dynamics::SkeletonPtr {
return self->getRootSkeleton();
})
.def(
"uniteSkeletons",
+[](dart::constraint::ConstraintBase* self) {
self->uniteSkeletons();
})
.def_static(
"compressPath",
+[](dart::dynamics::SkeletonPtr skeleton)
-> dart::dynamics::SkeletonPtr {
return dart::constraint::ConstraintBase::compressPath(skeleton);
},
::py::arg("skeleton"))
.def_static(
"getRootSkeletonOf",
+[](dart::dynamics::SkeletonPtr skeleton)
-> dart::dynamics::SkeletonPtr {
return dart::constraint::ConstraintBase::getRootSkeleton(skeleton);
},
::py::arg("skeleton"));
}
} // namespace python
} // namespace dart
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