robot-utils-py.cpp

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/*
 * Copyright 2017, A. Del Prete, T. Flayols, O. Stasse, LAAS-CNRS
 *
 * This file is part of sot-core.
 * See license file.
 */
 
#include <pinocchio/fwd.hpp>
// keep pinocchio before boost
 
#include <boost/property_tree/ptree.hpp>
#include <boost/python.hpp>
#include <boost/python/suite/indexing/map_indexing_suite.hpp>
#include <sot/core/robot-utils.hh>
 
using namespace boost::python;
using namespace dynamicgraph::sot;
 
BOOST_PYTHON_MODULE(robot_utils_sot_py) {
  class_<JointLimits>("JointLimits", init<double, double>())
      .def_readwrite("upper", &JointLimits::upper)
      .def_readwrite("lower", &JointLimits::lower);
 
  class_<ForceLimits>("ForceLimits",
                      init<const Eigen::VectorXd &, const Eigen::VectorXd &>())
      .def("display", &ForceLimits::display)
      .def_readwrite("upper", &ForceLimits::upper)
      .def_readwrite("lower", &ForceLimits::lower);
 
  class_<ForceUtil>("ForceUtil")
      .def("set_name_to_force_id", &ForceUtil::set_name_to_force_id)
      .def("set_force_id_to_limits", &ForceUtil::set_force_id_to_limits)
      .def("create_force_id_to_name_map",
           &ForceUtil::create_force_id_to_name_map)
      .def("get_id_from_name", &ForceUtil::get_id_from_name)
      .def("get_name_from_id", &ForceUtil::cp_get_name_from_id)
      .def("get_limits_from_id", &ForceUtil::cp_get_limits_from_id)
      .def("get_force_id_left_hand", &ForceUtil::get_force_id_left_hand)
      .def("set_force_id_left_hand", &ForceUtil::set_force_id_left_hand)
      .def("get_force_id_right_hand", &ForceUtil::get_force_id_right_hand)
      .def("set_force_id_right_hand", &ForceUtil::set_force_id_right_hand)
      .def("get_force_id_left_foot", &ForceUtil::get_force_id_left_foot)
      .def("set_force_id_left_foot", &ForceUtil::set_force_id_left_foot)
      .def("get_force_id_right_foot", &ForceUtil::get_force_id_right_foot)
      .def("set_force_id_right_foot", &ForceUtil::set_force_id_right_foot)
      .def("display", &ForceUtil::display);
 
  class_<RobotUtil>("RobotUtil")
      .def_readwrite("m_force_util", &RobotUtil::m_force_util)
      .def_readwrite("m_foot_util", &RobotUtil::m_foot_util)
      .def_readwrite("m_urdf_to_sot", &RobotUtil::m_urdf_to_sot)
      .def_readonly("m_nbJoints", &RobotUtil::m_nbJoints)
      .def_readwrite("m_name_to_id", &RobotUtil::m_name_to_id)
      .def_readwrite("m_id_to_name", &RobotUtil::m_id_to_name)
      .def("set_joint_limits_for_id", &RobotUtil::set_joint_limits_for_id)
      .def("get_joint_limits_from_id", &RobotUtil::cp_get_joint_limits_from_id)
      //.def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id)
      //.def("set_name_to_id", &RobotUtil::set_name_to_id)
      //.def("create_id_to_name_map",&RobotUtil::create_id_to_name_map)
      //.def("get_id_from_name",&RobotUtil::get_id_from_name)
      ;
 
  class_<std::map<Index, ForceLimits> >("IndexForceLimits")
      .def(map_indexing_suite<std::map<Index, ForceLimits> >());
 
  class_<std::map<std::string, Index> >("stringIndex")
      .def(map_indexing_suite<std::map<std::string, Index> >());
 
  class_<std::map<Index, std::string> >("Indexstring")
      .def(map_indexing_suite<std::map<Index, std::string> >());
}