From 0d7163d1538bb27c1a3ae0a9cece1b0974761882 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Wed, 31 Jul 2024 09:01:32 -0500
Subject: [PATCH] update bindings

---
 lib/python_bindings/espp/__init__.pyi | 88 +++++++++++++++++++++++----
 lib/python_bindings/pybind_espp.cpp   | 42 ++++++++-----
 2 files changed, 104 insertions(+), 26 deletions(-)

diff --git a/lib/python_bindings/espp/__init__.pyi b/lib/python_bindings/espp/__init__.pyi
index a5ffe123c..1ccbdcb9f 100644
--- a/lib/python_bindings/espp/__init__.pyi
+++ b/lib/python_bindings/espp/__init__.pyi
@@ -781,6 +781,8 @@ class Gaussian:
      *
      * \section gaussian_ex1 Example
      * \snippet math_example.cpp gaussian example
+     * \section gaussian_ex2 Fade-In/Fade-Out Example
+     * \snippet math_example.cpp gaussian fade in fade out example
 
     """
     class Config:
@@ -815,18 +817,80 @@ class Gaussian:
         """
         pass
 
-    gamma: float                   #/<! Slope of the gaussian, range [0, 1]. 0 is more of a thin spike from 0 up to
-    #/   max output (alpha), 1 is more of a small wave around the max output (alpha).
-    alpha: float                   #/<! Max amplitude of the gaussian output, defautls to 1.0.
-    beta: float                    #/<! Shifting / Beta value for the gaussian, default to be
-    #/   symmetric at 0.5 in range [0,1].
-    def __init__(
-        self,
-        gamma: float = float(),
-        alpha: float = float(),
-        beta: float = float()
-        ) -> None:
-        """Auto-generated default constructor with named params"""
+    def update(self, config: Gaussian.Config) -> None:
+        """*
+           * @brief Update the gaussian configuration.
+           * @param config The new configuration.
+
+        """
+        pass
+
+    def set_config(self, config: Gaussian.Config) -> None:
+        """*
+           * @brief Set the configuration of the gaussian.
+           * @param config The new configuration.
+
+        """
+        pass
+
+    def get_config(self) -> Gaussian.Config:
+        """*
+           * @brief Get the current configuration of the gaussian.
+           * @return The current configuration.
+
+        """
+        pass
+
+    def get_gamma(self) -> float:
+        """*
+           * @brief Get the gamma value.
+           * @return The gamma value.
+
+        """
+        pass
+
+    def get_alpha(self) -> float:
+        """*
+           * @brief Get the alpha value.
+           * @return The alpha value.
+
+        """
+        pass
+
+    def get_beta(self) -> float:
+        """*
+           * @brief Get the beta value.
+           * @return The beta value.
+
+        """
+        pass
+
+    def set_gamma(self, gamma: float) -> None:
+        """*
+           * @brief Set the gamma value.
+           * @param gamma The new gamma value.
+
+        """
+        pass
+
+    def set_alpha(self, alpha: float) -> None:
+        """*
+           * @brief Set the alpha value.
+           * @param alpha The new alpha value.
+
+        """
+        pass
+
+    def set_beta(self, beta: float) -> None:
+        """*
+           * @brief Set the beta value.
+           * @param beta The new beta value.
+
+        """
+        pass
+
+    def __init__(self) -> None:
+        """Auto-generated default constructor"""
         pass
 
 ####################    </generated_from:gaussian.hpp>    ####################
diff --git a/lib/python_bindings/pybind_espp.cpp b/lib/python_bindings/pybind_espp.cpp
index 1bccafea4..802d925ac 100644
--- a/lib/python_bindings/pybind_espp.cpp
+++ b/lib/python_bindings/pybind_espp.cpp
@@ -339,12 +339,11 @@ void py_init_module_espp(py::module &m) {
   } // end of inner classes & enums of Bezier_espp_Vector2f
 
   pyClassBezier_espp_Vector2f.def(py::init<const espp::Bezier<espp::Vector2f>::Config &>())
-      .def(py::init<const espp::Bezier<espp::Vector2f>::WeightedConfig &>())
+      .def(py::init<const espp::Bezier<espp::Vector2f>::Config &>())
       .def("__call__", &espp::Bezier<espp::Vector2f>::operator(), py::arg("t"),
            "*\n   * @brief Evaluate the bezier at \\p t.\n   * @note Convienience wrapper around "
-           "the "
-           "at() method.\n   * @param t The evaluation parameter, [0, 1].\n   * @return The bezier "
-           "evaluated at \\p t.\n");
+           "the at() method.\n   * @param t The evaluation parameter, [0, 1].\n   * @return The "
+           "bezier evaluated at \\p t.\n");
   ////////////////////    </generated_from:bezier.hpp>    ////////////////////
 
   ////////////////////    <generated_from:fast_math.hpp>    ////////////////////
@@ -425,7 +424,8 @@ void py_init_module_espp(py::module &m) {
       "\\f$y(t)=\\alpha\\exp(-\\frac{(t-\\beta)^2}{2\\gamma^2})\\f$.\n * @details Alows you to "
       "store the alpha, beta, and gamma coefficients as well\n *          as update them "
       "dynamically.\n *\n * \\section gaussian_ex1 Example\n * \\snippet math_example.cpp gaussian "
-      "example\n");
+      "example\n * \\section gaussian_ex2 Fade-In/Fade-Out Example\n * \\snippet math_example.cpp "
+      "gaussian fade in fade out example\n");
 
   { // inner classes & enums of Gaussian
     auto pyClassGaussian_ClassConfig =
@@ -457,13 +457,27 @@ void py_init_module_espp(py::module &m) {
            "*\n   * @brief Evaluate the gaussian at \\p t.\n   * @note Convienience wrapper around "
            "the at() method.\n   * @param t The evaluation parameter, [0, 1].\n   * @return The "
            "gaussian evaluated at \\p t.\n")
-      .def_readwrite(
-          "gamma", &espp::Gaussian::gamma,
-          "/<! Slope of the gaussian, range [0, 1]. 0 is more of a thin spike from 0 up to")
-      .def_readwrite("alpha", &espp::Gaussian::alpha,
-                     "/<! Max amplitude of the gaussian output, defautls to 1.0.")
-      .def_readwrite("beta", &espp::Gaussian::beta,
-                     "/<! Shifting / Beta value for the gaussian, default to be");
+      .def("update", &espp::Gaussian::update, py::arg("config"),
+           "*\n   * @brief Update the gaussian configuration.\n   * @param config The new "
+           "configuration.\n")
+      .def("set_config", &espp::Gaussian::set_config, py::arg("config"),
+           "*\n   * @brief Set the configuration of the gaussian.\n   * @param config The new "
+           "configuration.\n")
+      .def("get_config", &espp::Gaussian::get_config,
+           "*\n   * @brief Get the current configuration of the gaussian.\n   * @return The "
+           "current configuration.\n")
+      .def("get_gamma", &espp::Gaussian::get_gamma,
+           "*\n   * @brief Get the gamma value.\n   * @return The gamma value.\n")
+      .def("get_alpha", &espp::Gaussian::get_alpha,
+           "*\n   * @brief Get the alpha value.\n   * @return The alpha value.\n")
+      .def("get_beta", &espp::Gaussian::get_beta,
+           "*\n   * @brief Get the beta value.\n   * @return The beta value.\n")
+      .def("set_gamma", &espp::Gaussian::set_gamma, py::arg("gamma"),
+           "*\n   * @brief Set the gamma value.\n   * @param gamma The new gamma value.\n")
+      .def("set_alpha", &espp::Gaussian::set_alpha, py::arg("alpha"),
+           "*\n   * @brief Set the alpha value.\n   * @param alpha The new alpha value.\n")
+      .def("set_beta", &espp::Gaussian::set_beta, py::arg("beta"),
+           "*\n   * @brief Set the beta value.\n   * @param beta The new beta value.\n");
   ////////////////////    </generated_from:gaussian.hpp>    ////////////////////
 
   ////////////////////    <generated_from:range_mapper.hpp>    ////////////////////
@@ -536,7 +550,7 @@ void py_init_module_espp(py::module &m) {
                            "the input distribution.");
   } // end of inner classes & enums of RangeMapper_int
 
-  pyClassRangeMapper_int.def(py::init<>())
+  pyClassRangeMapper_int.def(py::init<const espp::RangeMapper<int>::Config &>())
       .def("get_center_deadband", &espp::RangeMapper<int>::get_center_deadband,
            "*\n   * @brief Return the configured deadband around the center of the input\n   *     "
            "   distribution\n   * @return Deadband around the center of the input distribution for "
@@ -658,7 +672,7 @@ void py_init_module_espp(py::module &m) {
                            "the input distribution.");
   } // end of inner classes & enums of RangeMapper_float
 
-  pyClassRangeMapper_float.def(py::init<>())
+  pyClassRangeMapper_float.def(py::init<const espp::RangeMapper<float>::Config &>())
       .def("get_center_deadband", &espp::RangeMapper<float>::get_center_deadband,
            "*\n   * @brief Return the configured deadband around the center of the input\n   *     "
            "   distribution\n   * @return Deadband around the center of the input distribution for "