Commit 254d97a0 authored by ggory15's avatar ggory15
Browse files

added license agreement

parent 5df83af0
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/constraint/constraint-bound.hpp"
#include "tsid/bindings/python/constraint/expose-constraints.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_constriant_bound_hpp__
#define __tsid_python_constriant_bound_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/constraint/constraint-equality.hpp"
#include "tsid/bindings/python/constraint/expose-constraints.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_constriant_equality_hpp__
#define __tsid_python_constriant_equality_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/constraint/constraint-inequality.hpp"
#include "tsid/bindings/python/constraint/expose-constraints.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_constriant_inequality_hpp__
#define __tsid_python_constriant_inequality_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_expose_constraint_bound_hpp__
#define __tsid_python_expose_constraint_bound_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/contacts/contact.hpp"
#include "tsid/bindings/python/contacts/expose-contact.hpp"
......
......@@ -6,6 +6,23 @@
#include <eigenpy/eigenpy.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/contacts/contact-6d.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/math/constraint-inequality.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_expose_contact_hpp__
#define __tsid_python_expose_contact_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_expose_formulations_hpp__
#define __tsid_python_expose_formulations_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/formulations/expose-formulations.hpp"
#include "tsid/bindings/python/formulations/formulation.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_HQPOutput_hpp__
#define __tsid_python_HQPOutput_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include <eigenpy/eigenpy.hpp>
#include <eigenpy/geometry.hpp>
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_expose_robot_hpp__
#define __tsid_python_expose_robot_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/robots/expose-robots.hpp"
#include "tsid/bindings/python/robots/robot-wrapper.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_robot_wrapper_hpp__
#define __tsid_python_robot_wrapper_hpp__
......@@ -54,12 +71,7 @@ namespace tsid
.def("frameVelocity", &RobotPythonVisitor::frameVelocity, bp::args("data", "index"))
.def("frameAcceleration", &RobotPythonVisitor::frameAcceleration, bp::args("data", "index"))
.def("frameClassicAcceleration", &RobotPythonVisitor::frameClassicAcceleration, bp::args("data", "index"))
//.def("jacobianWorld", &RobotPythonVisitor::jacobianWorld, bp::args("data", "index", "J"))
//.def("jacobianLocal", &RobotPythonVisitor::jacobianLocal, bp::args("data", "index", "J")) // maybe these ftn are not used.
//.def("framePosition", &RobotPythonVisitor::framePosition, bp::args("data", "index"))
//.def("framePosition", &RobotPythonVisitor::framePosition, bp::args("data", "index", "framePosition"))
;
}
static se3::Model model (const Robot & self){
......@@ -112,42 +124,18 @@ namespace tsid
static se3::Motion acceleration(const Robot & self, const se3::Data & data, const se3::Model::JointIndex & index){
return self.acceleration(data, index);
}
// static void jacobianWorld(const Robot & self, const se3::Data & data, const se3::Model::JointIndex & index, se3::Data::Matrix6x & J){
// self.jacobianWorld(data, index, J);
// }
// static void jacobianLocal(const Robot & self, const se3::Data & data, const se3::Model::JointIndex & index, se3::Data::Matrix6x & J){
// self.jacobianLocal(data, index, J);
// }
static se3::SE3 framePosition(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index){
return self.framePosition(data, index);
}
//static void framePosition(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::SE3 & framePosition){
// self.framePosition(data, index, framePosition);
// }
static se3::Motion frameVelocity(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index){
return self.frameVelocity(data, index);
}
// static void frameVelocity(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::Motion & frameVelocity){
// self.frameVelocity(data, index, frameVelocity);
// }
static se3::Motion frameAcceleration(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index){
return self.frameAcceleration(data, index);
}
// static void frameAcceleration(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::Motion & frameAcceleration){
// self.frameAcceleration(data, index, frameAcceleration);
// }
static se3::Motion frameClassicAcceleration(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index){
return self.frameClassicAcceleration(data, index);
}
// static void frameClassicAcceleration(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::Motion & frameAcceleration){
// self.frameClassicAcceleration(data, index, frameAcceleration);
// }
// static void frameJacobianWorld(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::Data::Matrix6x & J){
// self.frameJacobianWorld(data, index, J);
// }
// static void frameJacobianLocal(const Robot & self, const se3::Data & data, const se3::Model::FrameIndex & index, se3::Data::Matrix6x & J){
// self.frameJacobianLocal(data, index, J);
// }
static void expose(const std::string & class_name)
{
......@@ -156,8 +144,6 @@ namespace tsid
doc.c_str(),
bp::no_init)
.def(RobotPythonVisitor<Robot>());
// bp::class_< std::vector<std::string> >("StdVec_StdString")
// .def(bp::vector_indexing_suite< std::vector<std::string> >())
;
}
};
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/solvers/expose-solvers.hpp"
#include "tsid/bindings/python/solvers/HQPData.hpp"
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#ifndef __tsid_python_test_hpp__
#define __tsid_python_test_hpp__
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/bindings/python/solvers/expose-solvers.hpp"
#include "tsid/bindings/python/solvers/HQPOutput.hpp"
......
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