integrator-euler-python-module-py.cc

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#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
#include <dynamic-graph/python/dynamic-graph-py.hh>
#include <dynamic-graph/python/module.hh>
#include <sot/core/integrator-euler.hh>

namespace dg = dynamicgraph;
namespace dgc = dynamicgraph::command;
namespace dgs = dynamicgraph::sot;
using dg::Matrix;
using dg::Vector;

template <typename S, typename C>
void exposeIntegratorEuler() {
  typedef dgs::IntegratorEuler<S, C> IE_t;

  const std::string cName = dgc::Value::typeName(dgc::ValueHelper<C>::TypeID);

  dg::python::exposeEntity<IE_t>()
      .add_property(
          "numerators",
          +[](const IE_t &e) {
            return dg::python::to_py_list(e.numCoeffs().begin(),
                                          e.numCoeffs().end());
          },
          +[](IE_t &e, bp::object iterable) {
            e.numCoeffs(dg::python::to_std_vector<C>(iterable));
          })
      .add_property(
          "denominators",
          +[](const IE_t &e) {
            return dg::python::to_py_list(e.denomCoeffs().begin(),
                                          e.denomCoeffs().end());
          },
          +[](IE_t &e, bp::object iterable) {
            e.denomCoeffs(dg::python::to_std_vector<C>(iterable));
          });
}

BOOST_PYTHON_MODULE(wrap) {
  bp::import("dynamic_graph");

  exposeIntegratorEuler<double, double>();
  exposeIntegratorEuler<Vector, double>();
  exposeIntegratorEuler<Vector, Matrix>();
}