bind_joint_ds.cpp

#include "dynamical_systems_bindings.hpp"
 
#include <dynamical_systems/DynamicalSystemFactory.hpp>
#include <dynamical_systems/IDynamicalSystem.hpp>
#include <state_representation/space/joint/JointState.hpp>
 
#include "py_dynamical_system.hpp"
 
using namespace state_representation;
using namespace py_parameter;
 
void joint(py::module_& m) {
  py::object parameter_map = py::module_::import("state_representation").attr("ParameterMap");
  py::class_<IDynamicalSystem<JointState>, std::shared_ptr<IDynamicalSystem<JointState>>, PyDynamicalSystem<JointState>> c(m, "IJointDS", parameter_map);
 
  c.def("is_compatible", &IDynamicalSystem<JointState>::is_compatible);
  c.def("evaluate", &IDynamicalSystem<JointState>::evaluate);
  c.def("get_base_frame", &IDynamicalSystem<JointState>::get_base_frame);
  c.def("set_base_frame", &IDynamicalSystem<JointState>::set_base_frame);
}
 
void bind_joint_ds(py::module_& m) {
  joint(m);
 
  m.def("create_joint_ds", [](DYNAMICAL_SYSTEM_TYPE type, const std::list<ParameterContainer>& parameters) -> py::object {
    return py::cast(JointDynamicalSystemFactory::create_dynamical_system(type, container_to_interface_ptr_list(parameters)));
  }, "Create a dynamical system of the desired type with initial parameters.", "type"_a, "parameters"_a);
 
 
  m.def("create_joint_ds", [](DYNAMICAL_SYSTEM_TYPE type) -> py::object {
    return py::cast(JointDynamicalSystemFactory::create_dynamical_system(type, std::list<std::shared_ptr<ParameterInterface>>()));
  }, "Create a dynamical system of the desired type.", "type"_a);
}