Commit e6c495d0 authored by Steve Tonneau's avatar Steve Tonneau

fixed property accessing for derivative constraints

parent d6b06346
......@@ -96,6 +96,48 @@ spline_deriv_constraint_t* wrapSplineDerivConstraintNoConstraints(const coeff_t&
return new spline_deriv_constraint_t(wps.begin(), wps.end());
}
point_t get_init_vel(const spline_constraints_t& c)
{
return c.init_vel;
}
point_t get_init_acc(const spline_constraints_t& c)
{
return c.init_acc;
}
point_t get_end_vel(const spline_constraints_t& c)
{
return c.end_vel;
}
point_t get_end_acc(const spline_constraints_t& c)
{
return c.end_acc;
}
void set_init_vel(spline_constraints_t& c, const point_t& val)
{
c.init_vel = val;
}
void set_init_acc(spline_constraints_t& c, const point_t& val)
{
c.init_acc = val;
}
void set_end_vel(spline_constraints_t& c, const point_t& val)
{
c.end_vel = val;
}
void set_end_acc(spline_constraints_t& c, const point_t& val)
{
c.end_acc = val;
}
BOOST_PYTHON_MODULE(spline)
{
/** BEGIN eigenpy init**/
......@@ -147,10 +189,10 @@ BOOST_PYTHON_MODULE(spline)
/** BEGIN spline constraints**/
class_<spline_constraints_t>
("spline_constraints", init<>())
.def_readwrite("init_vel", &spline_constraints_t::init_vel)
.def_readwrite("init_acc", &spline_constraints_t::init_acc)
.def_readwrite("end_vel", &spline_constraints_t::end_vel)
.def_readwrite("end_acc", &spline_constraints_t::end_acc)
.add_property("init_vel", &get_init_vel, &set_init_vel)
.add_property("init_acc", &get_init_acc, &set_init_acc)
.add_property("end_vel", &get_end_vel, &set_end_vel)
.add_property("end_acc", &get_end_acc, &set_end_acc)
;
/** END spline constraints**/
......
......@@ -32,10 +32,16 @@ a.derivate(0.4,2)
#testing spline_deriv_constraints
c = spline_constraints();
#~ c.init_vel; // TODO: error in reading DATA at the time ...
#~ c.end_vel;
c.init_vel; # TODO: error in reading DATA at the time ...
c.end_vel;
c.init_acc;
c.end_acc;
c.init_vel = matrix([0.,1.,1.]);
c.end_vel = matrix([0.,1.,1.]);
c.init_acc = matrix([0.,1.,1.]);
#~ c.end_acc;
c.end_acc = matrix([0.,1.,1.]);
a = spline_deriv_constraint (waypoints, time_waypoints)
a = spline_deriv_constraint (waypoints, time_waypoints, c)
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