Commit 56db18b9 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by Rohan Budhiraja
Browse files

locomote → multicontact-api

parent 16e4125e
......@@ -19,6 +19,7 @@ OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
SET(DOXYGEN_USE_MATHJAX YES)
SET(CXX_DISABLE_WERROR True)
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
SETUP_PROJECT()
......@@ -39,7 +40,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_BOOST()
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
ADD_SUBDIRECTORY(include/locomote)
ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
ADD_SUBDIRECTORY(bindings)
ADD_SUBDIRECTORY(unittest)
......
# Copyright (c) 2015-2018, CNRS
# Authors: Justin Carpentier <jcarpent@laas.fr>
# Simplified BSD license :
#Redistribution and use in source and binary forms, with or without modification,
#are permitted provided that the following conditions are met:
#
#1. Redistributions of source code must retain the above copyright notice,
#this list of conditions and the following disclaimer.
#
#2. 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.
import liblocomote_pywrap as locomote
from liblocomote_pywrap import *
from libmulticontact_api import *
import numpy as np
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/geometry/ellipsoid.hpp"
#include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
//2. 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 "locomote/bindings/python/geometry/ellipsoid.hpp"
#include "locomote/bindings/python/geometry/expose-geometry.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeEllipsoid()
{
EllipsoidPythonVisitor<locomote::geometry::Ellipsoid3d>::expose("Ellipsoid3d");
EllipsoidPythonVisitor<multicontact_api::geometry::Ellipsoid3d>::expose("Ellipsoid3d");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/geometry/linear-cone.hpp"
#include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
//2. 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 "locomote/bindings/python/geometry/linear-cone.hpp"
#include "locomote/bindings/python/geometry/expose-geometry.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeLinearCone()
{
ForceConePythonVisitor<locomote::geometry::ForceCone>::expose("ForceCone");
WrenchConePythonVisitor<locomote::geometry::WrenchCone>::expose("WrenchCone");
ForceConePythonVisitor<multicontact_api::geometry::ForceCone>::expose("ForceCone");
WrenchConePythonVisitor<multicontact_api::geometry::WrenchCone>::expose("WrenchCone");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/geometry/second-order-cone.hpp"
#include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
//2. 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 "locomote/bindings/python/geometry/second-order-cone.hpp"
#include "locomote/bindings/python/geometry/expose-geometry.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeSecondOrderCone()
{
SOCPythonVisitor<locomote::geometry::SOC6d>::expose("SOC6");
SOCPythonVisitor<locomote::geometry::SOC3d>::expose("SOC3");
SOCPythonVisitor<multicontact_api::geometry::SOC6d>::expose("SOC6");
SOCPythonVisitor<multicontact_api::geometry::SOC3d>::expose("SOC3");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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 <eigenpy/eigenpy.hpp>
#include <boost/python.hpp>
#include "locomote/bindings/python/geometry/expose-geometry.hpp"
#include "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/trajectories/expose-trajectories.hpp"
#include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/trajectories/expose-trajectories.hpp"
namespace bp = boost::python;
BOOST_PYTHON_MODULE(liblocomote_pywrap)
BOOST_PYTHON_MODULE(libmulticontact_api)
{
eigenpy::enableEigenPy();
using namespace locomote::python;
using namespace multicontact_api::python;
exposeGeometry();
exposeScenario();
exposeTrajectories();
......
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/scenario/contact-model-planar.hpp"
//2. 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 "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/scenario/contact-model-planar.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeContactModels()
{
ContactModelPlanarPythonVisitor<locomote::scenario::ContactModelPlanar>::expose("ContactModelPlanar");
ContactModelPlanarPythonVisitor<multicontact_api::scenario::ContactModelPlanar>::expose("ContactModelPlanar");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/scenario/contact-patch.hpp"
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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 "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/scenario/contact-patch.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeContactPatch()
{
ContactPatchPythonVisitor<locomote::scenario::ContactPatch>::expose("ContactPatch");
ContactPatchPythonVisitor<multicontact_api::scenario::ContactPatch>::expose("ContactPatch");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/scenario/contact-phase.hpp"
#include "multicontact-api/bindings/python/scenario/contact-phase-humanoid.hpp"
//2. 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 "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/scenario/contact-phase.hpp"
#include "locomote/bindings/python/scenario/contact-phase-humanoid.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeContactPhase()
{
ContactPhasePythonVisitor<locomote::scenario::ContactPhase4>::expose("ContactPhase4");
ContactPhaseHumanoidPythonVisitor<locomote::scenario::ContactPhaseHumanoid>::expose("ContactPhaseHumanoid");
ContactPhasePythonVisitor<multicontact_api::scenario::ContactPhase4>::expose("ContactPhase4");
ContactPhaseHumanoidPythonVisitor<multicontact_api::scenario::ContactPhaseHumanoid>::expose("ContactPhaseHumanoid");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/scenario/contact-sequence.hpp"
#include "multicontact-api/bindings/python/scenario/contact-phase-humanoid.hpp"
#include "multicontact-api/bindings/python/scenario/ms-interval.hpp"
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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 "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/scenario/contact-sequence.hpp"
#include "locomote/bindings/python/scenario/contact-phase-humanoid.hpp"
#include "locomote/bindings/python/scenario/ms-interval.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
void exposeContactSequence()
{
// ContactSequencePythonVisitor<locomote::scenario::ContactSequence4>::expose("ContactSequence4");
ContactSequencePythonVisitor<locomote::scenario::ContactSequenceHumanoid>::expose("ContactSequenceHumanoid");
MSIntervalPythonVisitor<locomote::scenario::ContactSequenceHumanoid::MSIntervalData>::expose("MSIntervalData");
// ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequence4>::expose("ContactSequence4");
ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid>::expose("ContactSequenceHumanoid");
MSIntervalPythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid::MSIntervalData>::expose("MSIntervalData");
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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 "locomote/scenario/fwd.hpp"
#include "locomote/bindings/python/scenario/expose-scenario.hpp"
#include "locomote/bindings/python/scenario/enums.hpp"
//
#include "multicontact-api/scenario/fwd.hpp"
#include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
#include "multicontact-api/bindings/python/scenario/enums.hpp"
#include <boost/python/enum.hpp>
namespace locomote
namespace multicontact_api
{
namespace python
{
namespace bp = boost::python;
using namespace locomote::scenario;
using namespace multicontact_api::scenario;
void exposeEnumHumanoidPhaseType()
{
bp::enum_<HumanoidPhaseType>("HumanoidPhaseType")
......@@ -47,7 +25,7 @@ namespace locomote
.value("HUMANOID_PHASE_UNDEFINED",HUMANOID_PHASE_UNDEFINED)
;
}
void exposeEnumConicType()
{
bp::enum_<ConicType>("ConicType")
......@@ -56,7 +34,7 @@ namespace locomote
.value("CONIC_UNDEFINED",CONIC_UNDEFINED)
;
}
void exposeScenarioEnums()
{
exposeEnumHumanoidPhaseType();
......
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
#include "multicontact-api/bindings/python/trajectories/cubic-hermite-spline.hpp"
//2. 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 "locomote/bindings/python/trajectories/cubic-hermite-spline.hpp"
namespace locomote
namespace multicontact_api
{
namespace python
{
......@@ -33,11 +12,10 @@ namespace locomote
using namespace trajectories;
typedef CubicHermiteSplineTpl<double,3> CubicHermiteSpline3;
typedef CubicHermiteSplineTpl<double,Eigen::Dynamic> CubicHermiteSpline;
CubicHermiteSplinePythonVisitor<CubicHermiteSpline3>::expose("CubicHermiteSpline3");
CubicHermiteSplinePythonVisitor<CubicHermiteSpline>::expose("CubicHermiteSpline");
exposeSplineAlgos();
exposeSplineAlgos();
}
}
}
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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.
#ifndef __locomote_python_geometry_ellipsoid_hpp__
#define __locomote_python_geometry_ellipsoid_hpp__
namespace locomote {
namespace python {
namespace internal {
template<typename T>
struct build_type_name
{
static const char* name();
static const char* shortname();
};
template<>
const char * build_type_name<double>::shortname() { return "d"; }
}
}
}
#endif // ifndef __locomote_python_geometry_ellipsoid_hpp__
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Simplified BSD license :
//Redistribution and use in source and binary forms, with or without modification,
//are permitted provided that the following conditions are met:
//1. Redistributions of source code must retain the above copyright notice,
//this list of conditions and the following disclaimer.
//2. 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.
#ifndef __locomote_python_expose_geometry_hpp__
#define __locomote_python_expose_geometry_hpp__
namespace locomote
{
namespace python
{
void exposeEllipsoid();
void exposeLinearCone();
void exposeSecondOrderCone();