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245 lines (189 loc) · 12.3 KB
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/**
* @file bipedal_locomotion.cpp.in
* @authors Giulio Romualdi, Diego Ferigo
* @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and
* distributed under the terms of the BSD-3-Clause license.
* @copyright Generative Bionics S.R.L. This software may be modified and distributed under the terms of the BSD-3-Clause license.
*/
// clang-format off
#include <pybind11/pybind11.h>
#include <BipedalLocomotion/bindings/ParametersHandler/Module.h>
#include <BipedalLocomotion/bindings/TextLogging/Module.h>
#include <BipedalLocomotion/bindings/TextLogging/TextLogging.h>
@cmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingRosImplementation
#include <BipedalLocomotion/bindings/TextLogging/RosModule.h>
@endcmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingRosImplementation
@cmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingYarpImplementation
#include <BipedalLocomotion/bindings/TextLogging/YarpModule.h>
@endcmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingYarpImplementation
@cmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerYarpImplementation
#include <BipedalLocomotion/bindings/ParametersHandler/YarpModule.h>
@endcmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerYarpImplementation
@cmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerTomlImplementation
#include <BipedalLocomotion/bindings/ParametersHandler/TomlModule.h>
@endcmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerTomlImplementation
@cmakeiftarget BipedalLocomotion::System
#include <BipedalLocomotion/bindings/System/Module.h>
#include <BipedalLocomotion/bindings/System/Clock.h>
@endcmakeiftarget BipedalLocomotion::System
@cmakeiftarget BipedalLocomotion::Math
#include <BipedalLocomotion/bindings/Math/Module.h>
@endcmakeiftarget BipedalLocomotion::Math
@cmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemYarpImplementation
#include <BipedalLocomotion/bindings/System/YarpModule.h>
@endcmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemYarpImplementation
@cmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemRosImplementation
#include <BipedalLocomotion/bindings/System/RosModule.h>
@endcmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemRosImplementation
@cmakeiftarget BipedalLocomotion::Contacts
#include <BipedalLocomotion/bindings/Contacts/Module.h>
@endcmakeiftarget BipedalLocomotion::Contacts
@cmakeiftarget BipedalLocomotion::Planners
#include <BipedalLocomotion/bindings/Planners/Module.h>
@endcmakeiftarget BipedalLocomotion::Planners
@cmakeiftarget BipedalLocomotion::RobotInterface
#include <BipedalLocomotion/bindings/RobotInterface/Module.h>
@endcmakeiftarget BipedalLocomotion::RobotInterface
@cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
#include <BipedalLocomotion/bindings/RobotInterface/YarpModule.h>
@endcmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
@cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::CameraInterface && BipedalLocomotion::RobotInterfaceYarpImplementation && BipedalLocomotion::CameraInterfaceYarpImplementation
#include <BipedalLocomotion/bindings/RobotInterface/CameraModule.h>
@endcmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::CameraInterface && BipedalLocomotion::RobotInterfaceYarpImplementation && BipedalLocomotion::CameraInterfaceYarpImplementation
@cmakeiftarget BipedalLocomotion::FloatingBaseEstimators
#include <BipedalLocomotion/bindings/FloatingBaseEstimators/Module.h>
@endcmakeiftarget BipedalLocomotion::FloatingBaseEstimators
@cmakeiftarget BipedalLocomotion::IK
#include <BipedalLocomotion/bindings/IK/Module.h>
@endcmakeiftarget BipedalLocomotion::IK
@cmakeiftarget BipedalLocomotion::TSID
#include <BipedalLocomotion/bindings/TSID/Module.h>
@endcmakeiftarget BipedalLocomotion::TSID
@cmakeiftarget BipedalLocomotion::ManifConversions
#include <BipedalLocomotion/bindings/Conversions/Module.h>
@endcmakeiftarget BipedalLocomotion::ManifConversions
@cmakeiftarget BipedalLocomotion::YarpUtilities
#include <BipedalLocomotion/bindings/YarpUtilities/Module.h>
@endcmakeiftarget BipedalLocomotion::YarpUtilities
@cmakeiftarget BipedalLocomotion::ContinuousDynamicalSystem
#include <BipedalLocomotion/bindings/ContinuousDynamicalSystem/Module.h>
@endcmakeiftarget BipedalLocomotion::ContinuousDynamicalSystem
@cmakeiftarget BipedalLocomotion::ML
#include <BipedalLocomotion/bindings/ML/Module.h>
@endcmakeiftarget BipedalLocomotion::ML
@cmakeiftarget BipedalLocomotion::ReducedModelControllers
#include<BipedalLocomotion/bindings/ReducedModelControllers/Module.h>
@endcmakeiftarget BipedalLocomotion::ReducedModelControllers
@cmakeiftarget BipedalLocomotion::SimplifiedModelControllers
#include<BipedalLocomotion/bindings/SimplifiedModelControllers/Module.h>
@endcmakeiftarget BipedalLocomotion::SimplifiedModelControllers
@cmakeiftarget BipedalLocomotion::JointLevelControllers
#include<BipedalLocomotion/bindings/JointLevelControllers/Module.h>
@endcmakeiftarget BipedalLocomotion::JointLevelControllers
@cmakeiftarget BipedalLocomotion::RobotDynamicsEstimator
#include<BipedalLocomotion/bindings/RobotDynamicsEstimator/Module.h>
@endcmakeiftarget BipedalLocomotion::RobotDynamicsEstimator
// Create the Python module
PYBIND11_MODULE(bindings, m)
{
namespace py = ::pybind11;
using namespace BipedalLocomotion;
@cmakeiftarget BipedalLocomotion::ManifConversions
py::module::import("manifpy");
@endcmakeiftarget BipedalLocomotion::ManifConversions
m.doc() = "BipedalLocomotionFramework bindings";
py::module textLoggingModule = m.def_submodule("text_logging");
bindings::TextLogging::CreateModule(textLoggingModule);
bindings::CreateLogger(m);
@cmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingRosImplementation
bindings::TextLogging::CreateRosModule(textLoggingModule);
@endcmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingRosImplementation
@cmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingYarpImplementation
bindings::TextLogging::CreateYarpModule(textLoggingModule);
@endcmakeiftarget BipedalLocomotion::TextLogging && BipedalLocomotion::TextLoggingYarpImplementation
py::module parametersHandlerModule = m.def_submodule("parameters_handler");
bindings::ParametersHandler::CreateModule(parametersHandlerModule);
@cmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerYarpImplementation
bindings::ParametersHandler::CreateYarpModule(parametersHandlerModule);
@endcmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerYarpImplementation
@cmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerTomlImplementation
bindings::ParametersHandler::CreateTomlModule(parametersHandlerModule);
@endcmakeiftarget BipedalLocomotion::ParametersHandler && BipedalLocomotion::ParametersHandlerTomlImplementation
@cmakeiftarget BipedalLocomotion::System
py::module systemModule = m.def_submodule("system");
bindings::System::CreateModule(systemModule);
bindings::CreateClock(m);
@endcmakeiftarget BipedalLocomotion::System
@cmakeiftarget BipedalLocomotion::Math
py::module mathModule = m.def_submodule("math");
bindings::Math::CreateModule(mathModule);
@endcmakeiftarget BipedalLocomotion::Math
@cmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemYarpImplementation
bindings::System::CreateYarpModule(systemModule);
@endcmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemYarpImplementation
@cmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemRosImplementation
bindings::System::CreateRosModule(systemModule);
@endcmakeiftarget BipedalLocomotion::System && BipedalLocomotion::SystemRosImplementation
@cmakeiftarget BipedalLocomotion::Contacts
py::module contactsModule = m.def_submodule("contacts");
bindings::Contacts::CreateModule(contactsModule);
@endcmakeiftarget BipedalLocomotion::Contacts
@cmakeiftarget BipedalLocomotion::Planners
py::module plannersModule = m.def_submodule("planners");
bindings::Planners::CreateModule(plannersModule);
@endcmakeiftarget BipedalLocomotion::Planners
@cmakeiftarget BipedalLocomotion::RobotInterface
py::module robotInterfaceModule = m.def_submodule("robot_interface");
bindings::RobotInterface::CreateModule(robotInterfaceModule);
@endcmakeiftarget BipedalLocomotion::RobotInterface
@cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
bindings::RobotInterface::CreateYarpModule(robotInterfaceModule);
@endcmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
@cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::CameraInterface && BipedalLocomotion::RobotInterfaceYarpImplementation && BipedalLocomotion::CameraInterfaceYarpImplementation
bindings::RobotInterface::CreateCameraModule(robotInterfaceModule);
@endcmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::CameraInterface && BipedalLocomotion::RobotInterfaceYarpImplementation && BipedalLocomotion::CameraInterfaceYarpImplementation
@cmakeiftarget BipedalLocomotion::FloatingBaseEstimators
py::module floatingBaseEstimatorModule = m.def_submodule("floating_base_estimators");
bindings::FloatingBaseEstimators::CreateModule(floatingBaseEstimatorModule);
@endcmakeiftarget BipedalLocomotion::FloatingBaseEstimators
@cmakeiftarget BipedalLocomotion::IK
py::module ikModule = m.def_submodule("ik");
bindings::IK::CreateModule(ikModule);
@endcmakeiftarget BipedalLocomotion::IK
@cmakeiftarget BipedalLocomotion::TSID
py::module tsidModule = m.def_submodule("tsid");
bindings::TSID::CreateModule(tsidModule);
@endcmakeiftarget BipedalLocomotion::TSID
@cmakeiftarget BipedalLocomotion::ManifConversions
py::module conversionsModule = m.def_submodule("conversions");
bindings::Conversions::CreateModule(conversionsModule);
@endcmakeiftarget BipedalLocomotion::ManifConversions
@cmakeiftarget BipedalLocomotion::YarpUtilities
py::module yarpUtilitiesModule = m.def_submodule("yarp_utilities");
bindings::YarpUtilities::CreateModule(yarpUtilitiesModule);
@endcmakeiftarget BipedalLocomotion::YarpUtilities
@cmakeiftarget BipedalLocomotion::ContinuousDynamicalSystem
py::module continuousDynamicalSystemModule = m.def_submodule("continuous_dynamical_system");
bindings::ContinuousDynamicalSystem::CreateModule(continuousDynamicalSystemModule);
@endcmakeiftarget BipedalLocomotion::ContinuousDynamicalSystem
@cmakeiftarget BipedalLocomotion::ML
py::module mlModule = m.def_submodule("ml");
bindings::ML::CreateModule(mlModule);
@endcmakeiftarget BipedalLocomotion::ML
@cmakeiftarget BipedalLocomotion::ReducedModelControllers
py::module reducedModelControllersModule = m.def_submodule("reduced_model_controllers");
bindings::ReducedModelControllers::CreateModule(reducedModelControllersModule);
@endcmakeiftarget BipedalLocomotion::ReducedModelControllers
@cmakeiftarget BipedalLocomotion::SimplifiedModelControllers
py::module simplifiedModelControllersModule = m.def_submodule("simplified_model_controllers");
bindings::SimplifiedModelControllers::CreateModule(simplifiedModelControllersModule);
@endcmakeiftarget BipedalLocomotion::SimplifiedModelControllers
@cmakeiftarget BipedalLocomotion::JointLevelControllers
py::module jointLevelControllersModule = m.def_submodule("joint_level_controllers");
bindings::JointLevelControllers::CreateModule(jointLevelControllersModule);
@endcmakeiftarget BipedalLocomotion::JointLevelControllers
@cmakeiftarget BipedalLocomotion::RobotDynamicsEstimator
py::module robotDynamicsEstimatorModule = m.def_submodule("robot_dynamics_estimator");
bindings::RobotDynamicsEstimator::CreateModule(robotDynamicsEstimatorModule);
@endcmakeiftarget BipedalLocomotion::RobotDynamicsEstimator
}