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[WIP] Topic/acceleration constraints #28

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[WIP] Topic/acceleration constraints #28

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f66e070
Fix Eigen alignment issues with some tasks
gergondet Mar 1, 2017
ecc8524
Fix allocation issue on (a-priori) all dangerous objects
gergondet Mar 2, 2017
293a851
Add allocation test
gergondet Mar 2, 2017
39f0f98
Add DLL interface for ImageConstr
gergondet Mar 2, 2017
9f87865
BoundedSpeedConstr becomes BoundedCartesianMotionConstr with support …
ahundt Apr 26, 2017
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22 changes: 11 additions & 11 deletions binding/python/generate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -434,13 +434,13 @@ def build_qp(tasks):
damperJointLimitsConstr = qp.add_class('DamperJointLimitsConstr', parent=[boundConstr, constr])

gripperTorqueConstr = qp.add_class('GripperTorqueConstr', parent=[ineqConstr, constr])
boundedSpeedConstr = qp.add_class('BoundedSpeedConstr', parent=[genineqConstr, constr])
BoundedCartesianMotionConstr = qp.add_class('BoundedCartesianMotionConstr', parent=[genineqConstr, constr])

imageConstr = qp.add_class('ImageConstr', parent=[ineqConstr, constr])

constrName = ['MotionConstr', 'MotionPolyConstr', 'ContactAccConstr', 'ContactSpeedConstr',
'CollisionConstr', 'JointLimitsConstr', 'DamperJointLimitsConstr',
'MotionSpringConstr', 'GripperTorqueConstr', 'BoundedSpeedConstr',
'MotionSpringConstr', 'GripperTorqueConstr', 'BoundedCartesianMotionConstr',
'CoMIncPlaneConstr', 'PositiveLambda', 'ContactPosConstr', 'ImageConstr']
eqConstrName = ['ContactAccConstr', 'ContactSpeedConstr', 'ContactPosConstr']
ineqConstrName = ['CollisionConstr', 'GripperTorqueConstr', 'CoMIncPlaneConstr', 'ImageConstr']
Expand All @@ -456,7 +456,7 @@ def build_qp(tasks):
'SurfaceTransformTask', 'RelativeDistTask', 'VectorOrientationTask']
constrList = [motionConstr, motionPolyConstr, contactAccConstr, contactSpeedConstr,
collisionConstr, jointLimitsConstr, damperJointLimitsConstr,
motionSpringConstr, gripperTorqueConstr, boundedSpeedConstr,
motionSpringConstr, gripperTorqueConstr, BoundedCartesianMotionConstr,
comIncPlaneConstr, positiveLambdaConstr, contactPosConstr, imageConstr]

# build list type
Expand Down Expand Up @@ -1536,29 +1536,29 @@ def addMotionDefault(motion):
[param('const tasks::qp::ContactId&', 'contactId')])
gripperTorqueConstr.add_method('reset', None, [])

# BoundedSpeedConstr
boundedSpeedConstr.add_constructor([param('const std::vector<rbd::MultiBody>&', 'mbs'),
# BoundedCartesianMotionConstr
BoundedCartesianMotionConstr.add_constructor([param('const std::vector<rbd::MultiBody>&', 'mbs'),
param('int', 'robotIndex'),
param('double', 'timeStep')])
boundedSpeedConstr.add_method('addBoundedSpeed', None,
BoundedCartesianMotionConstr.add_method('addBoundedSpeed', None,
[param('const std::vector<rbd::MultiBody>&', 'mbs'),
param('const std::string&', 'bodyName'),
param('const Eigen::Vector3d&', 'bodyPoint'),
param('const Eigen::MatrixXd&', 'dof'),
param('const Eigen::VectorXd&', 'speed')])
boundedSpeedConstr.add_method('addBoundedSpeed', None,
BoundedCartesianMotionConstr.add_method('addBoundedSpeed', None,
[param('const std::vector<rbd::MultiBody>&', 'mbs'),
param('const std::string&', 'bodyName'),
param('const Eigen::Vector3d&', 'bodyPoint'),
param('const Eigen::MatrixXd&', 'dof'),
param('const Eigen::VectorXd&', 'lowerSpeed'),
param('const Eigen::VectorXd&', 'upperSpeed')])
boundedSpeedConstr.add_method('removeBoundedSpeed', retval('bool'),
BoundedCartesianMotionConstr.add_method('removeBoundedSpeed', retval('bool'),
[param('const std::string&', 'bodyName')])
boundedSpeedConstr.add_method('resetBoundedSpeeds', None, [])
boundedSpeedConstr.add_method('nrBoundedSpeeds', retval('int'), [])
BoundedCartesianMotionConstr.add_method('resetBoundedSpeeds', None, [])
BoundedCartesianMotionConstr.add_method('nrBoundedSpeeds', retval('int'), [])

boundedSpeedConstr.add_method('updateBoundedSpeeds', None, [])
BoundedCartesianMotionConstr.add_method('updateBoundedSpeeds', None, [])

# ImageConstr
imageConstr.add_constructor([param('const std::vector<rbd::MultiBody>&', 'mbs'),
Expand Down
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