Add python bindings for dynamical_systems module #238
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eeberhard
previously approved these changes
Jan 12, 2022
| py::class_<DefaultDynamicalSystem<JointState>, IDynamicalSystem<JointState>>(m, "JointDefaultDS").def(py::init<>()); | ||
| py::class_<PointAttractor<JointState>, IDynamicalSystem<JointState>>(m, "JointPointAttractorDS").def(py::init<>()); | ||
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| m.def("create_joint_ds", [](DynamicalSystemFactory<CartesianState>::DYNAMICAL_SYSTEM type) -> py::object { |
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It's kind of annoying to have to use the template argument DynamicalSystemFactory<CartesianState>::DYNAMICAL_SYSTEM to access the type, but I realise it's not possible to just do DynamicalSystemFactory::DYNAMICAL_SYSTEM. Since it's hidden on the python side it doesn't really matter anyway!
buschbapti
previously approved these changes
Jan 12, 2022
Co-authored-by: Enrico Eberhard <32450951+eeberhard@users.noreply.github.com>
buschbapti
approved these changes
Jan 12, 2022
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Here it is finally, python bindings for the DS module!
It may be better to merge #236 first, and then I update this PR here before we merge it