HQPData.hpp

Go to the documentation of this file.

//
// Copyright (c) 2018 CNRS, NYU, MPI Tübingen
//
// 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__

#include "tsid/bindings/python/fwd.hpp"

#include "tsid/bindings/python/utils/container.hpp"

namespace tsid {
namespace python {
namespace bp = boost::python;

template <typename T>
struct ConstPythonVisitor
    : public boost::python::def_visitor<ConstPythonVisitor<T> > {
  template <class PyClass>

  void visit(PyClass& cl) const {
    cl.def(bp::init<>("Default Constructor"))
        .def("print_all", &T::print)
        .def("append", &T::append_eq, bp::arg("data"))
        .def("append", &T::append_ineq, bp::arg("data"))
        .def("append", &T::append_bound, bp::arg("data"));
  }

  static void expose(const std::string& class_name) {
    std::string doc = "ConstraintLevel info.";
    bp::class_<T>(class_name.c_str(), doc.c_str(), bp::no_init)
        .def(ConstPythonVisitor<T>());
  }
};

template <typename T>
struct HQPPythonVisitor
    : public boost::python::def_visitor<HQPPythonVisitor<T> > {
  template <class PyClass>

  void visit(PyClass& cl) const {
    cl.def(bp::init<>("Default Constructor"))
        .def("print_all", &T::print)
        .def("resize", &T::resize, bp::arg("i"))
        .def("append", &T::append_helper, bp::arg("constraintLevel"));
  }

  static void expose(const std::string& class_name) {
    std::string doc = "HQPdata info.";
    bp::class_<T>(class_name.c_str(), doc.c_str(), bp::no_init)
        .def(HQPPythonVisitor<T>());
  }
};

}  // namespace python
}  // namespace tsid

#endif  // ifndef __tsid_python_test_hpp__