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loco-3d
Multicontact-api
Commits
a557040a
Commit
a557040a
authored
May 07, 2020
by
Pierre Fernbach
Browse files
[Format]
parent
85c475ff
Changes
4
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Inline
Side-by-side
bindings/python/scenario/enums.cpp
View file @
a557040a
...
...
@@ -26,7 +26,9 @@ void exposeEnumContactType() {
.
value
(
"CONTACT_POINT"
,
CONTACT_POINT
);
}
void
exposeScenarioEnums
()
{
exposeEnumConicType
();
exposeEnumContactType
();}
void
exposeScenarioEnums
()
{
exposeEnumConicType
();
exposeEnumContactType
();
}
}
// namespace python
}
// namespace multicontact_api
include/multicontact-api/bindings/python/scenario/contact-sequence.hpp
View file @
a557040a
...
...
@@ -260,7 +260,6 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
static
bp
::
list
getAllEffectorsInContactAsList
(
CS
&
self
)
{
return
toPythonList
<
std
::
string
>
(
self
.
getAllEffectorsInContact
());
}
};
}
// namespace python
}
// namespace multicontact_api
...
...
include/multicontact-api/bindings/python/serialization/archive.hpp
View file @
a557040a
...
...
@@ -13,22 +13,20 @@ namespace bp = boost::python;
template
<
typename
Derived
>
struct
cs_pickle_suite
:
bp
::
pickle_suite
{
static
bp
::
object
getstate
(
const
Derived
&
cs
)
{
std
::
ostringstream
os
;
boost
::
archive
::
text_oarchive
oa
(
os
);
oa
<<
cs
;
return
bp
::
str
(
os
.
str
());
}
static
bp
::
object
getstate
(
const
Derived
&
cs
)
{
std
::
ostringstream
os
;
boost
::
archive
::
text_oarchive
oa
(
os
);
oa
<<
cs
;
return
bp
::
str
(
os
.
str
());
}
static
void
setstate
(
Derived
&
cs
,
bp
::
object
entries
)
{
bp
::
str
s
=
bp
::
extract
<
bp
::
str
>
(
entries
)();
std
::
string
st
=
bp
::
extract
<
std
::
string
>
(
s
)();
std
::
istringstream
is
(
st
);
boost
::
archive
::
text_iarchive
ia
(
is
);
ia
>>
cs
;
}
static
void
setstate
(
Derived
&
cs
,
bp
::
object
entries
)
{
bp
::
str
s
=
bp
::
extract
<
bp
::
str
>
(
entries
)();
std
::
string
st
=
bp
::
extract
<
std
::
string
>
(
s
)();
std
::
istringstream
is
(
st
);
boost
::
archive
::
text_iarchive
ia
(
is
);
ia
>>
cs
;
}
};
template
<
typename
Derived
>
...
...
include/multicontact-api/scenario/contact-patch.hpp
View file @
a557040a
...
...
@@ -29,7 +29,8 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
ContactPatchTpl
(
const
SE3
&
placement
,
const
Scalar
mu
)
:
m_contact_model
(
mu
),
m_placement
(
placement
)
{}
/// \brief Copy constructor
ContactPatchTpl
(
const
ContactPatchTpl
&
other
)
:
m_contact_model
(
other
.
m_contact_model
),
m_placement
(
other
.
m_placement
)
{}
ContactPatchTpl
(
const
ContactPatchTpl
&
other
)
:
m_contact_model
(
other
.
m_contact_model
),
m_placement
(
other
.
m_placement
)
{}
const
SE3
&
placement
()
const
{
return
m_placement
;
}
SE3
&
placement
()
{
return
m_placement
;
}
...
...
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