expose-direct-sum.cpp

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#include "aligator/context.hpp"
#include "aligator/python/fwd.hpp"
#include "aligator/modelling/explicit-dynamics-direct-sum.hpp"
#include "aligator/python/polymorphic-convertible.hpp"
 
namespace aligator {
namespace python {
 
using context::Scalar;
using DirectSumExplicitDynamics = DirectSumExplicitDynamicsTpl<Scalar>;
using context::DynamicsModel;
using context::ExplicitDynamics;
 
void exposeExplicitDynDirectSum() {
  PolymorphicMultiBaseVisitor<ExplicitDynamics, DynamicsModel>
      exp_dynamics_visitor;
 
  register_polymorphic_to_python<xyz::polymorphic<DirectSumExplicitDynamics>>();
  bp::class_<DirectSumExplicitDynamics, bp::bases<ExplicitDynamics>>(
      "DirectSumExplicitDynamics",
      "Direct sum :math:`f \\oplus g` of two explicit dynamical models.",
      bp::no_init)
      .def(bp::init<xyz::polymorphic<ExplicitDynamics>,
                    xyz::polymorphic<ExplicitDynamics>>(("self"_a, "f", "g")))
      .def(exp_dynamics_visitor);
 
  bp::class_<DirectSumExplicitDynamics::Data,
             bp::bases<context::ExplicitDynamicsData>>(
      "DirectSumExplicitDynamicsData", bp::no_init)
      .def_readwrite("data1", &DirectSumExplicitDynamics::Data::data1_)
      .def_readwrite("data2", &DirectSumExplicitDynamics::Data::data2_);
 
  bp::def("directSum", directSum<Scalar>, ("f"_a, "g"),
          "Produce the direct sum.");
}
 
} // namespace python
} // namespace aligator