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Commit d582e9fa authored by Valenza Florian's avatar Valenza Florian
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[Python] Reindented file

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with 74 additions and 74 deletions
src/python/model.hpp
+ 74
− 74
View file @ d582e9fa
......@@ -83,74 +83,74 @@ namespace se3
/* --- Convert From C++ to Python ------------------------------------- */
// static PyObject* convert(Model const& modelConstRef)
// {
// Model * ptr = const_cast<Model*>(&modelConstRef);
// return boost::python::incref(boost::python::object(ModelHandler(ptr)).ptr());
// Model * ptr = const_cast<Model*>(&modelConstRef);
// return boost::python::incref(boost::python::object(ModelHandler(ptr)).ptr());
// }
static PyObject* convert(ModelHandler::SmartPtr_t const& ptr)
{
return boost::python::incref(boost::python::object(ModelHandler(ptr)).ptr());
return boost::python::incref(boost::python::object(ModelHandler(ptr)).ptr());
}
/* --- Exposing C++ API to python through the handler ----------------- */
template<class PyClass>
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def("getBodyId",&ModelPythonVisitor::getBodyId)
.def("getJointId",&ModelPythonVisitor::getJointId)
.def("createData",&ModelPythonVisitor::createData)
.def("__str__",&ModelPythonVisitor::toString)
.add_property("nq", &ModelPythonVisitor::nq)
.add_property("nv", &ModelPythonVisitor::nv)
.add_property("nbody", &ModelPythonVisitor::nbody)
.add_property("inertias",
bp::make_function(&ModelPythonVisitor::inertias,
bp::return_internal_reference<>()) )
.add_property("jointPlacements",
bp::make_function(&ModelPythonVisitor::jointPlacements,
bp::return_internal_reference<>()) )
.add_property("joints",
bp::make_function(&ModelPythonVisitor::joints,
bp::return_internal_reference<>()) )
.add_property("parents",
bp::make_function(&ModelPythonVisitor::parents,
bp::return_internal_reference<>()) )
.add_property("names",
bp::make_function(&ModelPythonVisitor::names,
bp::return_internal_reference<>()) )
.add_property("bodyNames",
bp::make_function(&ModelPythonVisitor::bodyNames,
bp::return_internal_reference<>()) )
.add_property("hasVisual",
bp::make_function(&ModelPythonVisitor::hasVisual,
bp::return_internal_reference<>()) )
.def("addBody",&ModelPythonVisitor::addJointToModel)
.add_property("nFixBody", &ModelPythonVisitor::nFixBody)
.add_property("fix_lmpMi", bp::make_function(&ModelPythonVisitor::fix_lmpMi, bp::return_internal_reference<>()) )
.add_property("fix_lastMovingParent",bp::make_function(&ModelPythonVisitor::fix_lastMovingParent,bp::return_internal_reference<>()) )
.add_property("fix_hasVisual", bp::make_function(&ModelPythonVisitor::fix_hasVisual, bp::return_internal_reference<>()) )
.add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>()) )
.add_property("effortLimit", bp::make_function(&ModelPythonVisitor::effortLimit, bp::return_internal_reference<>()), "Joint max effort")
.add_property("velocityLimit", bp::make_function(&ModelPythonVisitor::velocityLimit, bp::return_internal_reference<>()), "Joint max velocity")
.add_property("lowerPositionLimit", bp::make_function(&ModelPythonVisitor::lowerPositionLimit, bp::return_internal_reference<>()), "Limit for joint lower position")
.add_property("upperPositionLimit", bp::make_function(&ModelPythonVisitor::upperPositionLimit, bp::return_internal_reference<>()), "Limit for joint upper position")
.def("getFrameParent", &ModelPythonVisitor::getFrameParent)
.def("getFramePlacement", &ModelPythonVisitor::getFramePlacement)
.def("addFrame", &ModelPythonVisitor::addFrame)
.add_property("operational_frames", bp::make_function(&ModelPythonVisitor::operationalFrames, bp::return_internal_reference<>()) )
.add_property("gravity",&ModelPythonVisitor::gravity,&ModelPythonVisitor::setGravity)
.def("BuildEmptyModel",&ModelPythonVisitor::maker_empty)
.staticmethod("BuildEmptyModel")
.def("BuildHumanoidSimple",&ModelPythonVisitor::maker_humanoidSimple)
.staticmethod("BuildHumanoidSimple")
;
cl
.def("getBodyId",&ModelPythonVisitor::getBodyId)
.def("getJointId",&ModelPythonVisitor::getJointId)
.def("createData",&ModelPythonVisitor::createData)
.def("__str__",&ModelPythonVisitor::toString)
.add_property("nq", &ModelPythonVisitor::nq)
.add_property("nv", &ModelPythonVisitor::nv)
.add_property("nbody", &ModelPythonVisitor::nbody)
.add_property("inertias",
bp::make_function(&ModelPythonVisitor::inertias,
bp::return_internal_reference<>()) )
.add_property("jointPlacements",
bp::make_function(&ModelPythonVisitor::jointPlacements,
bp::return_internal_reference<>()) )
.add_property("joints",
bp::make_function(&ModelPythonVisitor::joints,
bp::return_internal_reference<>()) )
.add_property("parents",
bp::make_function(&ModelPythonVisitor::parents,
bp::return_internal_reference<>()) )
.add_property("names",
bp::make_function(&ModelPythonVisitor::names,
bp::return_internal_reference<>()) )
.add_property("bodyNames",
bp::make_function(&ModelPythonVisitor::bodyNames,
bp::return_internal_reference<>()) )
.add_property("hasVisual",
bp::make_function(&ModelPythonVisitor::hasVisual,
bp::return_internal_reference<>()) )
.def("addBody",&ModelPythonVisitor::addJointToModel)
.add_property("nFixBody", &ModelPythonVisitor::nFixBody)
.add_property("fix_lmpMi", bp::make_function(&ModelPythonVisitor::fix_lmpMi, bp::return_internal_reference<>()) )
.add_property("fix_lastMovingParent",bp::make_function(&ModelPythonVisitor::fix_lastMovingParent,bp::return_internal_reference<>()) )
.add_property("fix_hasVisual", bp::make_function(&ModelPythonVisitor::fix_hasVisual, bp::return_internal_reference<>()) )
.add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>()) )
.add_property("effortLimit", bp::make_function(&ModelPythonVisitor::effortLimit, bp::return_internal_reference<>()), "Joint max effort")
.add_property("velocityLimit", bp::make_function(&ModelPythonVisitor::velocityLimit, bp::return_internal_reference<>()), "Joint max velocity")
.add_property("lowerPositionLimit", bp::make_function(&ModelPythonVisitor::lowerPositionLimit, bp::return_internal_reference<>()), "Limit for joint lower position")
.add_property("upperPositionLimit", bp::make_function(&ModelPythonVisitor::upperPositionLimit, bp::return_internal_reference<>()), "Limit for joint upper position")
.def("getFrameParent", &ModelPythonVisitor::getFrameParent)
.def("getFramePlacement", &ModelPythonVisitor::getFramePlacement)
.def("addFrame", &ModelPythonVisitor::addFrame)
.add_property("operational_frames", bp::make_function(&ModelPythonVisitor::operationalFrames, bp::return_internal_reference<>()) )
.add_property("gravity",&ModelPythonVisitor::gravity,&ModelPythonVisitor::setGravity)
.def("BuildEmptyModel",&ModelPythonVisitor::maker_empty)
.staticmethod("BuildEmptyModel")
.def("BuildHumanoidSimple",&ModelPythonVisitor::maker_humanoidSimple)
.staticmethod("BuildHumanoidSimple")
;
}
static Model::Index getBodyId( const ModelHandler & modelPtr, const std::string & name )
......@@ -158,7 +158,7 @@ namespace se3
static Model::Index getJointId( const ModelHandler & modelPtr, const std::string & name )
{ return modelPtr->getJointId(name); }
static boost::shared_ptr<Data> createData(const ModelHandler& m )
{ return boost::shared_ptr<Data>( new Data(*m) ); }
{ return boost::shared_ptr<Data>( new Data(*m) ); }
static int nq( ModelHandler & m ) { return m->nq; }
static int nv( ModelHandler & m ) { return m->nv; }
......@@ -171,13 +171,13 @@ namespace se3
static std::vector<std::string> & bodyNames ( ModelHandler & m ) { return m->bodyNames; }
static std::vector<bool> & hasVisual ( ModelHandler & m ) { return m->hasVisual; }
static Model::Index addJointToModel( ModelHandler & modelPtr,
Model::JointIndex idx, bp::object joint,
const SE3_fx & placement,
const Inertia_fx & Y,
const std::string & jointName,
const std::string & bodyName,
bool visual=false)
static Model::Index addJointToModel(ModelHandler & modelPtr,
Model::JointIndex idx, bp::object joint,
const SE3_fx & placement,
const Inertia_fx & Y,
const std::string & jointName,
const std::string & bodyName,
bool visual=false)
{
JointModelVariant variant = bp::extract<JointModelVariant> (joint);
return boost::apply_visitor(add_body_visitor(modelPtr, idx, placement, Y, jointName, bodyName, visual), variant);
......@@ -208,17 +208,17 @@ namespace se3
static ModelHandler maker_empty()
{
return ModelHandler( new Model(),true );
return ModelHandler( new Model(),true );
}
static ModelHandler maker_humanoidSimple()
{
Model * model = new Model();
buildModels::humanoidSimple(*model);
return ModelHandler( model,true );
Model * model = new Model();
buildModels::humanoidSimple(*model);
return ModelHandler( model,true );
}
static std::string toString(const ModelHandler& m)
{ std::ostringstream s; s << *m; return s.str(); }
{ std::ostringstream s; s << *m; return s.str(); }
///
/// \brief Provide equivalent to python list index function for
......@@ -263,7 +263,7 @@ namespace se3
bp::class_<ModelHandler>("Model",
"Articulated rigid body model (const)",
bp::no_init)
.def(ModelPythonVisitor());
.def(ModelPythonVisitor());
/* Not sure if it is a good idea to enable automatic
* conversion. Prevent it for now */
......
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