Commit 97ea7131 authored by Julian Viereck's avatar Julian Viereck
Browse files

Expose the setMask and useLocalFrame for the TaskSE3Equality python binding

parent 813bea98
......@@ -31,16 +31,16 @@
namespace tsid
{
namespace python
{
{
namespace bp = boost::python;
template<typename TaskSE3>
struct TaskSE3EqualityPythonVisitor
: public boost::python::def_visitor< TaskSE3EqualityPythonVisitor<TaskSE3> >
{
template<class PyClass>
template<class PyClass>
void visit(PyClass& cl) const
{
......@@ -60,6 +60,8 @@ namespace tsid
.add_property("Kd", bp::make_function(&TaskSE3EqualityPythonVisitor::Kd, bp::return_value_policy<bp::copy_const_reference>()))
.def("setKp", &TaskSE3EqualityPythonVisitor::setKp, bp::arg("Kp"))
.def("setKd", &TaskSE3EqualityPythonVisitor::setKd, bp::arg("Kd"))
.def("useLocalFrame", &TaskSE3EqualityPythonVisitor::useLocalFrame, bp::arg("local_frame"))
.def("setMask", &TaskSE3EqualityPythonVisitor::setMask, bp::arg("mask"))
.def("compute", &TaskSE3EqualityPythonVisitor::compute, bp::args("t", "q", "v", "data"))
.def("getConstraint", &TaskSE3EqualityPythonVisitor::getConstraint)
.add_property("frame_id", &TaskSE3::frame_id, "frame id return")
......@@ -105,19 +107,25 @@ namespace tsid
}
static const Eigen::VectorXd & velocity_ref (const TaskSE3 & self){
return self.velocity_ref();
}
}
static const Eigen::VectorXd & Kp (TaskSE3 & self){
return self.Kp();
}
}
static const Eigen::VectorXd & Kd (TaskSE3 & self){
return self.Kd();
}
}
static void setKp (TaskSE3 & self, const::Eigen::VectorXd Kp){
return self.Kp(Kp);
}
static void setKd (TaskSE3 & self, const::Eigen::VectorXd Kv){
return self.Kd(Kv);
}
static void useLocalFrame (TaskSE3 & self, const bool local_frame) {
self.useLocalFrame(local_frame);
}
static void setMask (TaskSE3 & self, const::Eigen::VectorXd mask) {
self.setMask(mask);
}
static Eigen::VectorXd frame_id (TaskSE3 & self){
return self.frame_id();
}
......
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