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Expose Progressive::timeOut() to Python #178

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Expose Progressive::timeOut() to Python #178

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[core] Expose Progressive::timeOut() to Python
thanhndv212 Aug 7, 2026
b7a046b
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Aug 7, 2026
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19 changes: 18 additions & 1 deletion src/pyhpp/core/path-validation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,19 @@ struct Progressive : PathValidation {
tolerance) {}
};

struct ProgressiveWrapper {
static hpp::core::value_type getTimeOut(PathValidation* pv) {
return HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive,
pv->obj)
->timeOut();
}
static void setTimeOut(PathValidation* pv,
const hpp::core::value_type& timeOut) {
HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive, pv->obj)
->timeOut(timeOut);
}
};

struct Dichotomy : PathValidation {
Dichotomy(const hpp::core::DevicePtr_t& robot,
const hpp::core::value_type& tolerance)
Expand Down Expand Up @@ -184,7 +197,11 @@ void exposePathValidation() {
class_<pathValidation::Progressive, bases<PathValidation>>(
"Progressive", "Create a progressive continuous path validation.",
init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(
(arg("robot"), arg("tolerance"))));
(arg("robot"), arg("tolerance"))))
.def("timeOut", &pathValidation::ProgressiveWrapper::getTimeOut,
"Get wall-clock timeout (seconds) for path validation.")
.def("timeOut", &pathValidation::ProgressiveWrapper::setTimeOut,
"Set wall-clock timeout (seconds) for path validation.");
class_<pathValidation::Dichotomy, bases<PathValidation>>(
"Dichotomy", "Create a dichotomy-based continuous path validation.",
init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(
Expand Down
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