fixed property accessing for derivative constraints

python/spline_python.cpp

@@ -96,6 +96,48 @@ spline_deriv_constraint_t* wrapSplineDerivConstraintNoConstraints(const coeff_t&
     return new spline_deriv_constraint_t(wps.begin(), wps.end());
 }
 
+point_t get_init_vel(const spline_constraints_t& c)
+{
+    return c.init_vel;
+}
+
+point_t get_init_acc(const spline_constraints_t& c)
+{
+    return c.init_acc;
+}
+
+point_t get_end_vel(const spline_constraints_t& c)
+{
+    return c.end_vel;
+}
+
+point_t get_end_acc(const spline_constraints_t& c)
+{
+    return c.end_acc;
+}
+
+void set_init_vel(spline_constraints_t& c, const point_t& val)
+{
+    c.init_vel = val;
+}
+
+void set_init_acc(spline_constraints_t& c, const point_t& val)
+{
+    c.init_acc = val;
+}
+
+void set_end_vel(spline_constraints_t& c, const point_t& val)
+{
+    c.end_vel = val;
+}
+
+void set_end_acc(spline_constraints_t& c, const point_t& val)
+{
+    c.end_acc = val;
+}
+
+
+
 BOOST_PYTHON_MODULE(spline)
 {
     /** BEGIN eigenpy init**/
@@ -147,10 +189,10 @@ BOOST_PYTHON_MODULE(spline)
     /** BEGIN spline constraints**/
     class_<spline_constraints_t>
         ("spline_constraints", init<>())
-            .def_readwrite("init_vel", &spline_constraints_t::init_vel)
-            .def_readwrite("init_acc", &spline_constraints_t::init_acc)
-            .def_readwrite("end_vel", &spline_constraints_t::end_vel)
-            .def_readwrite("end_acc", &spline_constraints_t::end_acc)
+            .add_property("init_vel", &get_init_vel, &set_init_vel)
+            .add_property("init_acc", &get_init_acc, &set_init_acc)
+            .add_property("end_vel", &get_end_vel, &set_end_vel)
+            .add_property("end_acc", &get_end_acc, &set_end_acc)
         ;
     /** END spline constraints**/
 

python/test/test.py

@@ -32,10 +32,16 @@ a.derivate(0.4,2)
 
 #testing spline_deriv_constraints
 c = spline_constraints();
-#~ c.init_vel; // TODO: error in reading DATA at the time ...
-#~ c.end_vel;
+c.init_vel; #  TODO: error in reading DATA at the time ...
+c.end_vel;
+c.init_acc;
+c.end_acc;
+
+
+c.init_vel = matrix([0.,1.,1.]);
+c.end_vel  = matrix([0.,1.,1.]);
 c.init_acc = matrix([0.,1.,1.]);
-#~ c.end_acc;
+c.end_acc  = matrix([0.,1.,1.]);
 
 a = spline_deriv_constraint (waypoints, time_waypoints)
 a = spline_deriv_constraint (waypoints, time_waypoints, c)