HQPData.cpp

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//
// 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"

namespace tsid {
namespace python {
void exposeConstraintLevel() {
  ConstPythonVisitor<ConstraintLevels>::expose("ConstraintLevel");
}
void exposeHQPData() {
  typedef solvers::QPDataBaseTpl<double> QPDataBase;
  typedef solvers::QPDataTpl<double> QPData;
  typedef solvers::QPDataQuadProgTpl<double> QPDataQuadProg;

  HQPPythonVisitor<HQPDatas>::expose("HQPData");

  // expose QP data structures
  bp::class_<QPDataBase>("QPDataBase")
      .def_readonly("H", &QPDataBase::H, "Cost matrix")
      .def_readonly("g", &QPDataBase::g)
      .def_readonly("CE", &QPDataBase::CE, "Equality constraint matrix")
      .def_readonly("ce0", &QPDataBase::ce0);

  bp::class_<QPData, bp::bases<QPDataBase>>("QPData")
      .def_readonly("CI", &QPData::CI, "Inequality constraint matrix")
      .def_readonly("lb", &QPData::ci_lb, "Inequality constraint lower bound")
      .def_readonly("ub", &QPData::ci_ub, "Inequality constraint upper bound");

  bp::class_<QPDataQuadProg, bp::bases<QPDataBase>>("QPDataQuadProg")
      .def_readonly("CI", &QPDataQuadProg::CI,
                    "Inequality constraint matrix (unilateral)")
      .def_readonly(
          "ci0", &QPDataQuadProg::ci0,
          "Inequality constraint vector (stacked lower and upper bounds)");
}
}  // namespace python
}  // namespace tsid