[cpp]Bind supporting structs
#include <bindings.hpp>
#include <string>
+#include <toppra/algorithm.hpp>
#include <toppra/constraint.hpp>
#include <toppra/constraint/linear_joint_acceleration.hpp>
#include <toppra/constraint/linear_joint_velocity.hpp>
@@ -69,6 +70,25 @@ PYBIND11_MODULE(toppra_int, m) {
LinearConstraint::discretizationType,
(void (LinearConstraint::*)(DiscretizationType)) &
LinearConstraint::discretizationType);
+
+ // algorithm
+ py::enum_<toppra::ReturnCode>(m, "ReturnCode")
+ .value("OK", toppra::ReturnCode::OK)
+ .value("ERR_UNKNOWN", toppra::ReturnCode::ERR_UNKNOWN)
+ .value("ERR_UNINITIALIZED", toppra::ReturnCode::ERR_UNINITIALIZED)
+ .value("ERR_FAIL_FEASIBLE", toppra::ReturnCode::ERR_FAIL_FEASIBLE)
+ .value("ERR_FAIL_CONTROLLABLE", toppra::ReturnCode::ERR_FAIL_CONTROLLABLE)
+ .value("ERR_FAIL_FORWARD_PASS", toppra::ReturnCode::ERR_FAIL_FORWARD_PASS)
+ .export_values();
+
+ py::class_<toppra::ParametrizationData>(m, "ParametrizationData")
+ .def(py::init<>())
+ .def_readwrite("gridpoints", &toppra::ParametrizationData::gridpoints)
+ .def_readwrite("parametrization", &toppra::ParametrizationData::parametrization)
+ .def_readwrite("controllable_sets",
+ &toppra::ParametrizationData::controllable_sets)
+ .def_readwrite("feasible_sets", &toppra::ParametrizationData::feasible_sets)
+ .def_readwrite("ret_code", &toppra::ParametrizationData::ret_code);
}
} // namespace python
} // namespace toppra
