cbf_tracking/src/mpc/py_mpc.cpp at main · nocholasrift/cbf_tracking · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include "mpc/mpc_core.h"

namespace py = pybind11;

PYBIND11_MODULE(py_mpc, m) {
    py::enum_<mpc_type>(m, "mpc_type")
        .value("MPC_TYPE_CTE", MPC_TYPE_CTE)
        .value("MPC_TYPE_ACC", MPC_TYPE_ACC)
        .value("MPC_TYPE_NLOPT", MPC_TYPE_NLOPT)
        .value("MPC_TYPE_NLOPT_POS", MPC_TYPE_NLOPT_POS)
        .export_values();

    py::class_<JackalMPCCore>(m, "JackalMPCCore")
        .def(py::init<>())
        .def(py::init<const mpc_type &>())
        .def("load_params", &JackalMPCCore::load_params)
        .def("set_odom", (void (JackalMPCCore::*)(const Eigen::Vector3d &)) &JackalMPCCore::set_odom)
        .def("set_odom", (void (JackalMPCCore::*)(const std::vector<double> &)) &JackalMPCCore::set_odom)
        .def("set_goal", (void (JackalMPCCore::*)(const Eigen::Vector2d &)) &JackalMPCCore::set_goal)
        .def("set_goal", (void (JackalMPCCore::*)(const std::vector<double> &)) &JackalMPCCore::set_goal)
        .def("set_obstacle", (void (JackalMPCCore::*)(const Eigen::Vector3d &)) &JackalMPCCore::set_obstacle)
        .def("set_obstacle", (void (JackalMPCCore::*)(const std::vector<double> &)) &JackalMPCCore::set_obstacle)
        .def("set_reference", (void (JackalMPCCore::*)(const Eigen::MatrixXd &)) &JackalMPCCore::set_reference)
        .def("set_reference", (void (JackalMPCCore::*)(const std::vector<double> &)) &JackalMPCCore::set_reference)
        .def("get_mpc_results", &JackalMPCCore::get_mpc_results)
        .def("set_dist_map", (bool (JackalMPCCore::*)(py::dict grid_dict)) &JackalMPCCore::set_dist_map)
        .def("set_dist_map", (void (JackalMPCCore::*)(const std::shared_ptr<distmap::DistanceMap> &dist_map)) &JackalMPCCore::set_dist_map)
        .def("get_dist_map_data", &JackalMPCCore::get_dist_map_data)
        .def("set_mpc_type", &JackalMPCCore::set_mpc_type)
        .def("getHorizon", &JackalMPCCore::getHorizon)
        .def("solve", &JackalMPCCore::solve)
        .def("evaluateHFunction", &JackalMPCCore::evaluateHFunction);
}