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Add property bindings for SplineGradientBased #129

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Merged
florent-lamiraux merged 1 commit into from
Apr 17, 2026
Merged

Add property bindings for SplineGradientBased #129

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46 changes: 23 additions & 23 deletions src/pyhpp/core/path-optimizer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,26 @@ namespace pyhpp {
namespace core {
using namespace hpp::core;

template <int Order>
void exposeSplineGradientBased(const char* name) {
typedef pathOptimization::SplineGradientBased<path::BernsteinBasis, Order>
SGB_t;
class_<SGB_t, std::shared_ptr<SGB_t>, bases<PathOptimizer>,
boost::noncopyable>(name, no_init)
.def("__init__", make_constructor(&SGB_t::create))
.def_readwrite("alphaInit", &SGB_t::alphaInit)
.def_readwrite("alwaysStopAtFirst", &SGB_t::alwaysStopAtFirst)
.def_readwrite("costOrder", &SGB_t::costOrder)
.def_readwrite("usePathLengthAsWeights", &SGB_t::usePathLengthAsWeights)
.def_readwrite("reorderIntervals", &SGB_t::reorderIntervals)
.def_readwrite("linearizeAtEachStep", &SGB_t::linearizeAtEachStep)
.def_readwrite("checkJointBound", &SGB_t::checkJointBound)
.def_readwrite("returnOptimum", &SGB_t::returnOptimum)
.def_readwrite("costThreshold", &SGB_t::costThreshold)
.def_readwrite("guessThreshold", &SGB_t::guessThreshold)
.def_readwrite("QPAccuracy", &SGB_t::QPAccuracy);
}

void exposePathOptimizer() {
// DocClass(PathOptimizer)
class_<PathOptimizer, PathOptimizerPtr_t, boost::noncopyable>("PathOptimizer",
Expand Down Expand Up @@ -99,29 +119,9 @@ void exposePathOptimizer() {
.def("__init__",
make_constructor(&pathOptimization::RSTimeParameterization::create));

class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 1>,
std::shared_ptr<
pathOptimization::SplineGradientBased<path::BernsteinBasis, 1> >,
bases<PathOptimizer>, boost::noncopyable>(
"SplineGradientBased_bezier1", no_init)
.def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
path::BernsteinBasis, 1>::create));

class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 3>,
std::shared_ptr<
pathOptimization::SplineGradientBased<path::BernsteinBasis, 3> >,
bases<PathOptimizer>, boost::noncopyable>(
"SplineGradientBased_bezier3", no_init)
.def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
path::BernsteinBasis, 3>::create));

class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 5>,
std::shared_ptr<
pathOptimization::SplineGradientBased<path::BernsteinBasis, 5> >,
bases<PathOptimizer>, boost::noncopyable>(
"SplineGradientBased_bezier5", no_init)
.def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
path::BernsteinBasis, 5>::create));
exposeSplineGradientBased<1>("SplineGradientBased_bezier1");
exposeSplineGradientBased<3>("SplineGradientBased_bezier3");
exposeSplineGradientBased<5>("SplineGradientBased_bezier5");
}
} // namespace core
} // namespace pyhpp
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