bindings/python/constraint/constraint-bound.hpp

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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/>.
//

#ifndef __tsid_python_constriant_bound_hpp__
#define __tsid_python_constriant_bound_hpp__

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

#include "tsid/math/constraint-bound.hpp"

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

template <typename ConstraintBound>
struct ConstraintPythonVisitor
    : public boost::python::def_visitor<
          ConstraintPythonVisitor<ConstraintBound> > {
  template <class PyClass>

  void visit(PyClass& cl) const {
    cl.def(bp::init<std::string>((bp::arg("name")),
                                 "Default constructor with name."))
        .def(bp::init<std::string, unsigned int>(
            (bp::arg("name"), bp::arg("size")),
            "Default constructor with name and size."))
        .def(bp::init<std::string, Eigen::VectorXd, Eigen::VectorXd>(
            (bp::arg("name"), bp::arg("lb"), bp::arg("ub")),
            "Default constructor with name and constraint."))

        .add_property("rows", &ConstraintBound::rows)
        .add_property("cols", &ConstraintBound::cols)
        .def("resize", &ConstraintBound::resize, (bp::arg("r"), bp::arg("c")),
             "Resize constraint size.")

        .add_property("isEquality", &ConstraintBound::isEquality)
        .add_property("isInequality", &ConstraintBound::isInequality)
        .add_property("isBound", &ConstraintBound::isBound)

        .add_property("vector", &ConstraintPythonVisitor::vector)
        .add_property("lowerBound", &ConstraintPythonVisitor::lowerBound)
        .add_property("upperBound", &ConstraintPythonVisitor::upperBound)

        .def("setVector",
             (bool(ConstraintBound::*)(
                 const Eigen::Ref<const Eigen::VectorXd>)) &
                 ConstraintBound::setVector,
             bp::args("vector"), "Set Vector")
        .def("setLowerBound",
             (bool(ConstraintBound::*)(
                 const Eigen::Ref<const Eigen::VectorXd>)) &
                 ConstraintBound::setLowerBound,
             bp::args("lb"), "Set LowerBound")
        .def("setUpperBound",
             (bool(ConstraintBound::*)(
                 const Eigen::Ref<const Eigen::VectorXd>)) &
                 ConstraintBound::setUpperBound,
             bp::args("ub"), "Set UpperBound");
  }
  static Eigen::VectorXd vector(const ConstraintBound& self) {
    return self.vector();
  }
  static Eigen::VectorXd lowerBound(const ConstraintBound& self) {
    return self.lowerBound();
  }
  static Eigen::VectorXd upperBound(const ConstraintBound& self) {
    return self.upperBound();
  }

  static void expose(const std::string& class_name) {
    std::string doc = "Constraint Bound info.";
    bp::class_<ConstraintBound>(class_name.c_str(), doc.c_str(), bp::no_init)
        .def(ConstraintPythonVisitor<ConstraintBound>());
  }
};
}  // namespace python
}  // namespace tsid

#endif  // ifndef __tsid_python_constriant_bound_hpp__