1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include <dart/dart.hpp>
34 #include <pybind11/pybind11.h>
35
36 namespace py = pybind11;
37
38 namespace dart {
39 namespace python {
40
DantzigBoxedLcpSolver(py::module & m)41 void DantzigBoxedLcpSolver(py::module& m)
42 {
43 ::py::class_<
44 dart::constraint::DantzigBoxedLcpSolver,
45 dart::constraint::BoxedLcpSolver,
46 std::shared_ptr<dart::constraint::DantzigBoxedLcpSolver>>(
47 m, "DantzigBoxedLcpSolver")
48 .def(
49 "getType",
50 +[](const dart::constraint::DantzigBoxedLcpSolver* self)
51 -> const std::string& { return self->getType(); },
52 ::py::return_value_policy::reference_internal)
53 .def(
54 "solve",
55 +[](dart::constraint::DantzigBoxedLcpSolver* self,
56 int n,
57 double* A,
58 double* x,
59 double* b,
60 int nub,
61 double* lo,
62 double* hi,
63 int* findex,
64 bool earlyTermination) -> bool {
65 return self->solve(
66 n, A, x, b, nub, lo, hi, findex, earlyTermination);
67 },
68 ::py::arg("n"),
69 ::py::arg("A"),
70 ::py::arg("x"),
71 ::py::arg("b"),
72 ::py::arg("nub"),
73 ::py::arg("lo"),
74 ::py::arg("hi"),
75 ::py::arg("findex"),
76 ::py::arg("earlyTermination"))
77 .def_static(
78 "getStaticType",
79 +[]() -> const std::string& {
80 return dart::constraint::DantzigBoxedLcpSolver::getStaticType();
81 },
82 ::py::return_value_policy::reference_internal);
83 }
84
85 } // namespace python
86 } // namespace dart
87