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/*
* Copyright (c) 2011-2019, 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 JointLimitConstraint(py::module& m)
{
::py::class_<
dart::constraint::JointLimitConstraint,
dart::constraint::ConstraintBase,
std::shared_ptr<dart::constraint::JointLimitConstraint>>(
m, "JointLimitConstraint")
.def(::py::init<dart::dynamics::Joint*>(), ::py::arg("joint"))
.def_static(
"setErrorAllowance",
+[](double _allowance) {
dart::constraint::JointLimitConstraint::setErrorAllowance(
_allowance);
},
::py::arg("allowance"))
.def_static(
"getErrorAllowance",
+[]() -> double {
return dart::constraint::JointLimitConstraint::getErrorAllowance();
})
.def_static(
"setErrorReductionParameter",
+[](double _erp) {
dart::constraint::JointLimitConstraint::setErrorReductionParameter(
_erp);
},
::py::arg("erp"))
.def_static(
"getErrorReductionParameter",
+[]() -> double {
return dart::constraint::JointLimitConstraint::
getErrorReductionParameter();
})
.def_static(
"setMaxErrorReductionVelocity",
+[](double _erv) {
dart::constraint::JointLimitConstraint::
setMaxErrorReductionVelocity(_erv);
},
::py::arg("erv"))
.def_static(
"getMaxErrorReductionVelocity",
+[]() -> double {
return dart::constraint::JointLimitConstraint::
getMaxErrorReductionVelocity();
})
.def_static(
"setConstraintForceMixing",
+[](double _cfm) {
dart::constraint::JointLimitConstraint::setConstraintForceMixing(
_cfm);
},
::py::arg("cfm"))
.def_static("getConstraintForceMixing", +[]() -> double {
return dart::constraint::JointLimitConstraint::
getConstraintForceMixing();
});
}
} // namespace python
} // namespace dart
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