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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>
#include <pybind11/stl.h>
#include "eigen_geometry_pybind.h"
#include "eigen_pybind.h"
#include "pointers.hpp"
namespace py = pybind11;
namespace dart {
namespace python {
void Node(py::module& m)
{
::py::class_<
dart::dynamics::Node,
/*dart::common::VersionCounter,*/ dart::common::Subject,
std::shared_ptr<dart::dynamics::Node> >(m, "Node")
.def(
"setName",
+[](dart::dynamics::Node* self, const std::string& newName)
-> const std::string& { return self->setName(newName); },
::py::return_value_policy::reference_internal,
::py::arg("newName"))
.def(
"getName",
+[](const dart::dynamics::Node* self) -> const std::string& {
return self->getName();
},
::py::return_value_policy::reference_internal)
.def(
"setNodeState",
+[](dart::dynamics::Node* self,
const dart::dynamics::Node::State& otherState) {
self->setNodeState(otherState);
},
::py::arg("otherState"))
.def(
"getNodeState",
+[](const dart::dynamics::Node* self)
-> std::unique_ptr<dart::dynamics::Node::State> {
return self->getNodeState();
})
.def(
"setNodeProperties",
+[](dart::dynamics::Node* self,
const dart::dynamics::Node::Properties& properties) {
self->setNodeProperties(properties);
},
::py::arg("properties"))
.def(
"getNodeProperties",
+[](const dart::dynamics::Node* self)
-> std::unique_ptr<dart::dynamics::Node::Properties> {
return self->getNodeProperties();
})
.def(
"getBodyNodePtr",
+[](dart::dynamics::Node* self) -> dart::dynamics::BodyNodePtr {
return self->getBodyNodePtr();
})
.def(
"getBodyNodePtr",
+[](const dart::dynamics::Node* self)
-> dart::dynamics::ConstBodyNodePtr {
return self->getBodyNodePtr();
})
.def(
"getBodyNode",
+[](dart::dynamics::Node* self) -> dart::dynamics::BodyNode* {
return self->getBodyNodePtr().get();
})
.def(
"isRemoved",
+[](const dart::dynamics::Node* self) -> bool {
return self->isRemoved();
})
.def(
"getSkeleton",
+[](dart::dynamics::Node* self)
-> std::shared_ptr<dart::dynamics::Skeleton> {
return self->getSkeleton();
})
.def(
"getSkeleton",
+[](const dart::dynamics::Node* self)
-> std::shared_ptr<const dart::dynamics::Skeleton> {
return self->getSkeleton();
});
}
} // namespace python
} // namespace dart
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