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Merge pull request #624 from ami-iit/contact_detector
Restructure ContactDetector machinery
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bindings/python/Math/include/BipedalLocomotion/bindings/Math/SchmittTrigger.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| /** | ||
| * @file SchmittTrigger.h | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #ifndef BIPEDAL_LOCOMOTION_BINDINGS_MATH_SCHMITT_TRIGGER_H | ||
| #define BIPEDAL_LOCOMOTION_BINDINGS_MATH_SCHMITT_TRIGGER_H | ||
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| #include <pybind11/pybind11.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace Math | ||
| { | ||
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| void CreateSchmittTrigger(pybind11::module& module); | ||
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| } // namespace Math | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion | ||
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| #endif // BIPEDAL_LOCOMOTION_BINDINGS_MATH_SCHMITT_TRIGGER_H |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| /** | ||
| * @file SchmittTrigger.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #include <pybind11/pybind11.h> | ||
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| #include <BipedalLocomotion/Math/SchmittTrigger.h> | ||
| #include <BipedalLocomotion/System/Advanceable.h> | ||
| #include <BipedalLocomotion/bindings/Math/SchmittTrigger.h> | ||
| #include <BipedalLocomotion/bindings/System/Advanceable.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace Math | ||
| { | ||
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| void CreateSchmittTrigger(pybind11::module& module) | ||
| { | ||
| using namespace BipedalLocomotion::Math; | ||
| namespace py = ::pybind11; | ||
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| py::class_<SchmittTriggerState>(module, "SchmittTriggerState") | ||
| .def(py::init([](bool state, double switchTime, double edgeTime) -> SchmittTriggerState { | ||
| return SchmittTriggerState{std::move(state), | ||
| std::move(switchTime), | ||
| std::move(edgeTime)}; | ||
| }), | ||
| py::arg("state") = false, | ||
| py::arg("switch_time") = 0.0, | ||
| py::arg("edge_time") = 0.0) | ||
| .def_readwrite("state", &SchmittTriggerState::state) | ||
| .def_readwrite("switch_time", &SchmittTriggerState::switchTime) | ||
| .def_readwrite("edge_time", &SchmittTriggerState::edgeTime); | ||
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| py::class_<SchmittTriggerInput>(module, "SchmittTriggerInput") | ||
| .def(py::init([](double time, double rawValue) -> SchmittTriggerInput { | ||
| return SchmittTriggerInput{std::move(time), std::move(rawValue)}; | ||
| }), | ||
| py::arg("time") = 0.0, | ||
| py::arg("raw_value") = 0.0) | ||
| .def_readwrite("time", &SchmittTriggerInput::time) | ||
| .def_readwrite("raw_value", &SchmittTriggerInput::rawValue); | ||
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| BipedalLocomotion::bindings::System::CreateAdvanceable< | ||
| BipedalLocomotion::Math::SchmittTriggerInput, | ||
| BipedalLocomotion::Math::SchmittTriggerState>(module, "SchmittTrigger"); | ||
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| py::class_<SchmittTrigger, | ||
| ::BipedalLocomotion::System::Advanceable<SchmittTriggerInput, // | ||
| SchmittTriggerState>> | ||
| schmittTrigger(module, "SchmittTrigger"); | ||
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| py::class_<SchmittTrigger::Params>(schmittTrigger, "Params") | ||
| .def(py::init([](double onThreshold, | ||
| double offThreshold, | ||
| double switchOnAfter, | ||
| double switchOffAfter, | ||
| double timeComparisonThreshold) -> SchmittTrigger::Params { | ||
| SchmittTrigger::Params params; | ||
| params.onThreshold = std::move(onThreshold); | ||
| params.offThreshold = std::move(offThreshold); | ||
| params.switchOnAfter = std::move(switchOnAfter); | ||
| params.switchOffAfter = std::move(switchOffAfter); | ||
| params.timeComparisonThreshold = std::move(timeComparisonThreshold); | ||
| return params; | ||
| }), | ||
| py::arg("on_threshold") = 0.0, | ||
| py::arg("off_threshold") = 0.0, | ||
| py::arg("switch_on_after") = 0.0, | ||
| py::arg("switch_off_after") = 0.0, | ||
| py::arg("time_comparison_threshold") = std::numeric_limits<double>::epsilon()) | ||
| .def_readwrite("on_threshold", &SchmittTrigger::Params::onThreshold) | ||
| .def_readwrite("off_threshold", &SchmittTrigger::Params::offThreshold) | ||
| .def_readwrite("switch_on_after", &SchmittTrigger::Params::switchOnAfter) | ||
| .def_readwrite("switch_off_after", &SchmittTrigger::Params::switchOffAfter) | ||
| .def_readwrite("time_comparison_threshold", | ||
| &SchmittTrigger::Params::timeComparisonThreshold); | ||
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| schmittTrigger.def(py::init()) | ||
| .def("set_state", &SchmittTrigger::setState, py::arg("state")) | ||
| .def("initialize", | ||
| py::overload_cast<const SchmittTrigger::Params&>(&SchmittTrigger::initialize), | ||
| py::arg("parameters")); | ||
| } | ||
| } // namespace Math | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion |
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