Update bindings of IntegratorEuler

Author: jmirabel

include/sot/core/integrator-abstract.hh

@@ -67,7 +67,7 @@ public:
         "pushDenomCoef",
         makeCommandVoid1(
             *this, &IntegratorAbstract::pushDenomCoef,
-            docCommandVoid1("Push a new denomicator coefficient", typeName)));
+            docCommandVoid1("Push a new denominator coefficient", typeName)));
 
     addCommand(
         "popNumCoef",
@@ -76,7 +76,7 @@ public:
     addCommand(
         "popDenomCoef",
         makeCommandVoid0(*this, &IntegratorAbstract::popDenomCoef,
-                         docCommandVoid0("Pop a new denomicator coefficient")));
+                         docCommandVoid0("Pop a new denominator coefficient")));
   }
 
   virtual ~IntegratorAbstract() {}
@@ -91,11 +91,33 @@ public:
   void popNumCoef() { numerator.pop_back(); }
   void popDenomCoef() { denominator.pop_back(); }
 
+  const std::vector<coefT>& numCoeffs() const { return numerator; }
+  void numCoeffs(const std::vector<coefT>& coeffs) { numerator = coeffs; }
+
+  const std::vector<coefT>& denomCoeffs() const { return denominator; }
+  void denomCoeffs(const std::vector<coefT>& coeffs) { denominator = coeffs; }
+
 public:
   dg::SignalPtr<sigT, int> SIN;
 
   dg::SignalTimeDependent<sigT, int> SOUT;
 
+  virtual void display(std::ostream &os) const
+  {
+    os << this->getClassName() << ": " << getName() << '\n'
+      << "  ";
+    if (numerator.empty() || denominator.empty()) {
+      os << "ill-formed.";
+      return;
+    }
+    os << numerator[0];
+    for (std::size_t i = 1; i < numerator.size(); ++i)
+      os << " + " << numerator[i] << " s^" << i;
+    os << "\n  " << denominator[0];
+    for (std::size_t i = 1; i < denominator.size(); ++i)
+      os << " + " << denominator[i] << " s^" << i;
+  }
+
 protected:
   std::vector<coefT> numerator;
   std::vector<coefT> denominator;

include/sot/core/integrator-euler.hh

@@ -168,6 +168,18 @@ public:
   double getSamplingPeriod() const { return dt; }
 
   void initialize() {
+    if (denominator.empty() || numerator.empty())
+      throw dg::ExceptionSignal(
+          dg::ExceptionSignal::GENERIC,
+          "The numerator or the denominator is empty.");
+
+    // Check that denominator.back is the identity
+    if (!internal::integratorEulerCoeffIsIdentity(denominator.back()))
+      throw dg::ExceptionSignal(
+          dg::ExceptionSignal::GENERIC,
+          "The coefficient of the highest order derivative of denominator "
+          "should be 1 (the last pushDenomCoef should be the identity).");
+
     std::size_t numsize = numerator.size();
     inputMemory.resize(numsize);
 
@@ -181,13 +193,6 @@ public:
     for (std::size_t i = 0; i < denomsize; ++i) {
       outputMemory[i] = inputMemory[0];
     }
-
-    // Check that denominator.back is the identity
-    if (!internal::integratorEulerCoeffIsIdentity(denominator.back()))
-      throw dg::ExceptionSignal(
-          dg::ExceptionSignal::GENERIC,
-          "The coefficient of the highest order derivative of denominator "
-          "should be 1 (the last pushDenomCoef should be the identity).");
   }
 };
 

src/matrix/integrator-euler-python-module-py.cc

@@ -0,0 +1,41 @@
+#include <dynamic-graph/python/module.hh>
+
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include <dynamic-graph/python/dynamic-graph-py.hh>
+
+#include <eigenpy/registration.hpp>
+
+#include <sot/core/integrator-euler.hh>
+
+namespace dg = dynamicgraph;
+namespace dgc = dynamicgraph::command;
+namespace dgs = dynamicgraph::sot;
+using dg::Vector;
+using dg::Matrix;
+
+template<typename S, typename C> void exposeIntegratorEuler()
+{
+  typedef dgs::IntegratorEuler<S, C> IE_t;
+  typedef std::vector<C> Coeffs_t;
+
+  const std::string cName =
+    dgc::Value::typeName(dgc::ValueHelper<C>::TypeID);
+
+  dg::python::exposeEntity<IE_t>()
+    .add_property("numerators",
+        +[](const IE_t& e) { return dg::python::to_py_list(e.numCoeffs().begin(), e.numCoeffs().end()); },
+        +[](IE_t& e, bp::object iterable) { e.numCoeffs(dg::python::to_std_vector<C>(iterable)); })
+    .add_property("denominators",
+        +[](const IE_t& e) { return dg::python::to_py_list(e.denomCoeffs().begin(), e.denomCoeffs().end()); },
+        +[](IE_t& e, bp::object iterable) { e.denomCoeffs(dg::python::to_std_vector<C>(iterable)); })
+        ;
+}
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  bp::import("dynamic_graph");
+
+  exposeIntegratorEuler<double, double>();
+  exposeIntegratorEuler<Vector, double>();
+  exposeIntegratorEuler<Vector, Matrix>();
+}