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119 lines
5.7 KiB
119 lines
5.7 KiB
#include "pybind11/eigen.h"
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#include "pybind11/pybind11.h"
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#include "drake/bindings/pydrake/documentation_pybind.h"
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#include "drake/bindings/pydrake/examples/examples_py.h"
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#include "drake/bindings/pydrake/pydrake_pybind.h"
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#include "drake/examples/compass_gait/compass_gait.h"
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#include "drake/examples/compass_gait/compass_gait_geometry.h"
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#include "drake/examples/compass_gait/gen/compass_gait_continuous_state.h"
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#include "drake/examples/compass_gait/gen/compass_gait_params.h"
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namespace drake {
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namespace pydrake {
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namespace internal {
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void DefineExamplesCompassGait(py::module m) {
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::systems;
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::examples::compass_gait;
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constexpr auto& doc = pydrake_doc.drake.examples.compass_gait;
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// TODO(eric.cousineau): At present, we only bind doubles.
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// In the future, we will bind more scalar types, and enable scalar
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// conversion.
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using T = double;
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py::class_<CompassGait<T>, LeafSystem<T>>(
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m, "CompassGait", doc.CompassGait.doc)
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.def(py::init<>(), doc.CompassGait.ctor.doc)
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.def("get_minimal_state_output_port",
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&CompassGait<T>::get_minimal_state_output_port,
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py_rvp::reference_internal,
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doc.CompassGait.get_minimal_state_output_port.doc)
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.def("get_floating_base_state_output_port",
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&CompassGait<T>::get_floating_base_state_output_port,
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py_rvp::reference_internal,
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doc.CompassGait.get_floating_base_state_output_port.doc);
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// TODO(russt): Remove custom bindings once #8096 is resolved.
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py::class_<CompassGaitParams<T>, BasicVector<T>>(
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m, "CompassGaitParams", doc.CompassGaitParams.doc)
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.def(py::init<>(), doc.CompassGaitParams.ctor.doc)
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.def("mass_hip", &CompassGaitParams<T>::mass_hip,
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doc.CompassGaitParams.mass_hip.doc)
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.def("mass_leg", &CompassGaitParams<T>::mass_leg,
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doc.CompassGaitParams.mass_leg.doc)
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.def("length_leg", &CompassGaitParams<T>::length_leg,
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doc.CompassGaitParams.length_leg.doc)
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.def("center_of_mass_leg", &CompassGaitParams<T>::center_of_mass_leg,
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doc.CompassGaitParams.center_of_mass_leg.doc)
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.def("gravity", &CompassGaitParams<T>::gravity,
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doc.CompassGaitParams.gravity.doc)
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.def("slope", &CompassGaitParams<T>::slope,
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doc.CompassGaitParams.slope.doc)
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.def("set_mass_hip", &CompassGaitParams<T>::set_mass_hip,
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doc.CompassGaitParams.set_mass_hip.doc)
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.def("set_mass_leg", &CompassGaitParams<T>::set_mass_leg,
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doc.CompassGaitParams.set_mass_leg.doc)
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.def("set_length_leg", &CompassGaitParams<T>::set_length_leg,
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doc.CompassGaitParams.set_length_leg.doc)
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.def("set_center_of_mass_leg",
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&CompassGaitParams<T>::set_center_of_mass_leg,
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doc.CompassGaitParams.set_center_of_mass_leg.doc)
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.def("set_gravity", &CompassGaitParams<T>::set_gravity,
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doc.CompassGaitParams.set_gravity.doc)
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.def("set_slope", &CompassGaitParams<T>::set_slope,
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doc.CompassGaitParams.set_slope.doc);
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py::class_<CompassGaitContinuousState<T>, BasicVector<T>>(
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m, "CompassGaitContinuousState", doc.CompassGaitContinuousState.doc)
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.def(py::init<>(), doc.CompassGaitContinuousState.ctor.doc)
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.def("stance", &CompassGaitContinuousState<T>::stance,
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doc.CompassGaitContinuousState.stance.doc)
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.def("swing", &CompassGaitContinuousState<T>::swing,
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doc.CompassGaitContinuousState.swing.doc)
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.def("stancedot", &CompassGaitContinuousState<T>::stancedot,
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doc.CompassGaitContinuousState.stancedot.doc)
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.def("swingdot", &CompassGaitContinuousState<T>::swingdot,
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doc.CompassGaitContinuousState.swingdot.doc)
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.def("set_stance", &CompassGaitContinuousState<T>::set_stance,
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doc.CompassGaitContinuousState.set_stance.doc)
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.def("set_swing", &CompassGaitContinuousState<T>::set_swing,
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doc.CompassGaitContinuousState.set_swing.doc)
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.def("set_stancedot", &CompassGaitContinuousState<T>::set_stancedot,
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doc.CompassGaitContinuousState.set_stancedot.doc)
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.def("set_swingdot", &CompassGaitContinuousState<T>::set_swingdot,
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doc.CompassGaitContinuousState.set_swingdot.doc);
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py::class_<CompassGaitGeometry, LeafSystem<double>>(
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m, "CompassGaitGeometry", doc.CompassGaitGeometry.doc)
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.def_static("AddToBuilder",
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py::overload_cast<systems::DiagramBuilder<double>*,
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const systems::OutputPort<double>&,
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const CompassGaitParams<double>&, geometry::SceneGraph<double>*>(
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&CompassGaitGeometry::AddToBuilder),
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py::arg("builder"), py::arg("floating_base_state_port"),
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py::arg("compass_gait_params"), py::arg("scene_graph"),
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// Keep alive, ownership: `return` keeps `builder` alive.
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py::keep_alive<0, 1>(),
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// See #11531 for why `py_rvp::reference` is needed.
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py_rvp::reference, doc.CompassGaitGeometry.AddToBuilder.doc_4args)
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.def_static("AddToBuilder",
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py::overload_cast<systems::DiagramBuilder<double>*,
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const systems::OutputPort<double>&,
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geometry::SceneGraph<double>*>(
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&CompassGaitGeometry::AddToBuilder),
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py::arg("builder"), py::arg("floating_base_state_port"),
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py::arg("scene_graph"),
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// Keep alive, ownership: `return` keeps `builder` alive.
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py::keep_alive<0, 1>(),
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// See #11531 for why `py_rvp::reference` is needed.
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py_rvp::reference, doc.CompassGaitGeometry.AddToBuilder.doc_3args);
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}
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} // namespace internal
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} // namespace pydrake
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} // namespace drake
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