| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for double | ||
| 11 | #include "python/crocoddyl/core/actuation-base.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ActuationModelAbstractVisitor | ||
| 20 | : public bp::def_visitor<ActuationModelAbstractVisitor<Model>> { | ||
| 21 | typedef typename Model::Scalar Scalar; | ||
| 22 | typedef typename Model::ActuationModel ActuationModel; | ||
| 23 | typedef typename Model::ActuationData ActuationData; | ||
| 24 | typedef typename Model::VectorXs VectorXs; | ||
| 25 | template <class PyClass> | ||
| 26 | ✗ | void visit(PyClass& cl) const { | |
| 27 | ✗ | cl.def("calc", pure_virtual(&Model::calc), | |
| 28 | bp::args("self", "data", "x", "u"), | ||
| 29 | "Compute the actuation signal and actuation set from the " | ||
| 30 | "joint-torque input u.\n\n" | ||
| 31 | "It describes the time-continuos evolution of the actuation model.\n" | ||
| 32 | ":param data: actuation data\n" | ||
| 33 | ":param x: state point (dim. state.nx)\n" | ||
| 34 | ":param u: joint-torque input (dim. nu)") | ||
| 35 | ✗ | .def("calc", | |
| 36 | static_cast<void (ActuationModel::*)( | ||
| 37 | const std::shared_ptr<ActuationData>&, | ||
| 38 | const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc), | ||
| 39 | bp::args("self", "data", "x"), | ||
| 40 | "Ignore the computation of the actuation signal and actuation " | ||
| 41 | "set.\n\n" | ||
| 42 | "It does not update the actuation signal as this function is used " | ||
| 43 | "in " | ||
| 44 | "the\n" | ||
| 45 | "terminal nodes of an optimal control problem.\n" | ||
| 46 | ":param data: actuation data\n" | ||
| 47 | ":param x: state point (dim. state.nx)") | ||
| 48 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 49 | bp::args("self", "data", "x", "u"), | ||
| 50 | "Compute the Jacobians of the actuation model.\n\n" | ||
| 51 | "It computes the partial derivatives of the actuation model which " | ||
| 52 | "is\n" | ||
| 53 | "describes in continouos time.\n" | ||
| 54 | ":param data: actuation data\n" | ||
| 55 | ":param x: state point (dim. state.nx)\n" | ||
| 56 | ":param u: joint-torque input (dim. nu)") | ||
| 57 | ✗ | .def("calcDiff", | |
| 58 | static_cast<void (ActuationModel::*)( | ||
| 59 | const std::shared_ptr<ActuationData>&, | ||
| 60 | const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc), | ||
| 61 | bp::args("self", "data", "x"), | ||
| 62 | "Ignore the computation of the Jacobians of the actuation " | ||
| 63 | "function.\n\n" | ||
| 64 | "It does not update the Jacobians of the actuation function as " | ||
| 65 | "this " | ||
| 66 | "function\n" | ||
| 67 | "is used in the terminal nodes of an optimal control problem.\n" | ||
| 68 | ":param data: actuation data\n" | ||
| 69 | ":param x: state point (dim. state.nx)") | ||
| 70 | ✗ | .def("commands", pure_virtual(&Model::commands), | |
| 71 | bp::args("self", "data", "x", "tau"), | ||
| 72 | "Compute the joint-torque commands from the generalized " | ||
| 73 | "torques.\n\n" | ||
| 74 | "It stores the results in data.u.\n" | ||
| 75 | ":param data: actuation data\n" | ||
| 76 | ":param x: state point (dim. state.nx)\n" | ||
| 77 | ":param tau: generalized torques (dim state.nv)") | ||
| 78 | ✗ | .def("torqueTransform", &Model::torqueTransform, | |
| 79 | ✗ | &Model::default_torqueTransform, | |
| 80 | bp::args("self", "data", "x", "u"), | ||
| 81 | "Compute the torque transform from generalized torques to " | ||
| 82 | "joint-torque inputs.\n\n" | ||
| 83 | "It stores the results in data.Mtau.\n" | ||
| 84 | ":param data: actuation data\n" | ||
| 85 | ":param x: state point (dim. state.nx)\n" | ||
| 86 | ":param u: joint-torque input (dim nu)") | ||
| 87 | ✗ | .def("createData", &Model::createData, &Model::default_createData, | |
| 88 | bp::args("self"), | ||
| 89 | "Create the actuation data.\n\n" | ||
| 90 | "Each actuation model (AM) has its own data that needs to be " | ||
| 91 | "allocated.\n" | ||
| 92 | "This function returns the allocated data for a predefined AM.\n" | ||
| 93 | ":return AM data.") | ||
| 94 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 95 | "dimension of joint-torque vector") | ||
| 96 | ✗ | .add_property( | |
| 97 | "state", | ||
| 98 | bp::make_function(&Model::get_state, | ||
| 99 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 100 | "state"); | ||
| 101 | ✗ | } | |
| 102 | }; | ||
| 103 | |||
| 104 | template <typename Data> | ||
| 105 | struct ActuationDataAbstractVisitor | ||
| 106 | : public bp::def_visitor<ActuationDataAbstractVisitor<Data>> { | ||
| 107 | typedef typename Data::Scalar Scalar; | ||
| 108 | template <class PyClass> | ||
| 109 | ✗ | void visit(PyClass& cl) const { | |
| 110 | ✗ | cl.add_property( | |
| 111 | ✗ | "tau", bp::make_getter(&Data::tau, bp::return_internal_reference<>()), | |
| 112 | ✗ | bp::make_setter(&Data::tau), "generalized torques") | |
| 113 | ✗ | .add_property( | |
| 114 | ✗ | "u", bp::make_getter(&Data::u, bp::return_internal_reference<>()), | |
| 115 | ✗ | bp::make_setter(&Data::u), "joint-torque inputs") | |
| 116 | ✗ | .add_property( | |
| 117 | "dtau_dx", | ||
| 118 | ✗ | bp::make_getter(&Data::dtau_dx, bp::return_internal_reference<>()), | |
| 119 | ✗ | bp::make_setter(&Data::dtau_dx), | |
| 120 | "partial derivatives of the actuation model w.r.t. the state point") | ||
| 121 | ✗ | .add_property( | |
| 122 | "dtau_du", | ||
| 123 | ✗ | bp::make_getter(&Data::dtau_du, bp::return_internal_reference<>()), | |
| 124 | ✗ | bp::make_setter(&Data::dtau_du), | |
| 125 | "partial derivatives of the actuation model w.r.t. the " | ||
| 126 | "joint-torque input") | ||
| 127 | ✗ | .add_property( | |
| 128 | "Mtau", | ||
| 129 | ✗ | bp::make_getter(&Data::Mtau, bp::return_internal_reference<>()), | |
| 130 | ✗ | bp::make_setter(&Data::Mtau), | |
| 131 | "torque transform from generalized torques to joint-torque input") | ||
| 132 | ✗ | .add_property( | |
| 133 | "tau_set", | ||
| 134 | ✗ | bp::make_getter(&Data::tau_set, | |
| 135 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 136 | ✗ | bp::make_setter(&Data::tau_set), "actuation set"); | |
| 137 | ✗ | } | |
| 138 | }; | ||
| 139 | |||
| 140 | #define CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 141 | typedef ActuationModelAbstractTpl<Scalar> Model; \ | ||
| 142 | typedef ActuationModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 143 | typedef StateAbstractTpl<Scalar> State; \ | ||
| 144 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 145 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 146 | "ActuationModelAbstract", \ | ||
| 147 | "Abstract class for actuation-mapping models.\n\n" \ | ||
| 148 | "An actuation model is a function that maps state x and joint-torque " \ | ||
| 149 | "inputs u into generalized torques tau, where tau is also named as the " \ | ||
| 150 | "actuation signal of our system. The computation of the actuation " \ | ||
| 151 | "signal and its partial derivatives are mainly carried out inside " \ | ||
| 152 | "calc() and calcDiff(), respectively.", \ | ||
| 153 | bp::init<std::shared_ptr<State>, std::size_t>( \ | ||
| 154 | bp::args("self", "state", "nu"), \ | ||
| 155 | "Initialize the actuation model.\n\n" \ | ||
| 156 | ":param state: state description,\n" \ | ||
| 157 | ":param nu: dimension of the joint-torque input")) \ | ||
| 158 | .def(ActuationModelAbstractVisitor<Model_wrap>()) \ | ||
| 159 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 160 | .def(CopyableVisitor<Model_wrap>()); | ||
| 161 | |||
| 162 | #define CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 163 | typedef ActuationDataAbstractTpl<Scalar> Data; \ | ||
| 164 | typedef ActuationModelAbstractTpl<Scalar> Model; \ | ||
| 165 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 166 | bp::class_<Data>( \ | ||
| 167 | "ActuationDataAbstract", \ | ||
| 168 | "Abstract class for actuation datas.\n\n" \ | ||
| 169 | "An actuation data contains all the required information for " \ | ||
| 170 | "processing an user-defined actuation model. The actuation data " \ | ||
| 171 | "typically is allocated onces by running model.createData().", \ | ||
| 172 | bp::init<Model*>( \ | ||
| 173 | bp::args("self", "model"), \ | ||
| 174 | "Create common data shared between actuation models.\n\n" \ | ||
| 175 | "The actuation data uses the model in order to first process it.\n" \ | ||
| 176 | ":param model: actuation model")) \ | ||
| 177 | .def(ActuationDataAbstractVisitor<Data>()) \ | ||
| 178 | .def(CopyableVisitor<Data>()); | ||
| 179 | |||
| 180 | ✗ | void exposeActuationAbstract() { | |
| 181 | ✗ | CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS(double) | |
| 182 | ✗ | CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS(double) | |
| 183 | ✗ | } | |
| 184 | |||
| 185 | } // namespace python | ||
| 186 | } // namespace crocoddyl | ||
| 187 |