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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for float |
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#include "python/crocoddyl/core/actuation-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ActuationModelAbstractVisitor |
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: public bp::def_visitor<ActuationModelAbstractVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::ActuationModel ActuationModel; |
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typedef typename Model::ActuationData ActuationData; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", pure_virtual(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the actuation signal and actuation set from the " |
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"joint-torque input u.\n\n" |
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"It describes the time-continuos evolution of the actuation model.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint-torque input (dim. nu)") |
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.def("calc", |
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static_cast<void (ActuationModel::*)( |
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const std::shared_ptr<ActuationData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc), |
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bp::args("self", "data", "x"), |
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"Ignore the computation of the actuation signal and actuation " |
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"set.\n\n" |
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"It does not update the actuation signal as this function is used " |
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"in " |
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"the\n" |
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"terminal nodes of an optimal control problem.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the actuation model.\n\n" |
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"It computes the partial derivatives of the actuation model which " |
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"is\n" |
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"describes in continouos time.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint-torque input (dim. nu)") |
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.def("calcDiff", |
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static_cast<void (ActuationModel::*)( |
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const std::shared_ptr<ActuationData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc), |
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bp::args("self", "data", "x"), |
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"Ignore the computation of the Jacobians of the actuation " |
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"function.\n\n" |
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"It does not update the Jacobians of the actuation function as " |
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"this " |
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"function\n" |
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"is used in the terminal nodes of an optimal control problem.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)") |
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.def("commands", pure_virtual(&Model::commands), |
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bp::args("self", "data", "x", "tau"), |
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"Compute the joint-torque commands from the generalized " |
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"torques.\n\n" |
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"It stores the results in data.u.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param tau: generalized torques (dim state.nv)") |
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.def("torqueTransform", &Model::torqueTransform, |
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&Model::default_torqueTransform, |
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bp::args("self", "data", "x", "u"), |
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"Compute the torque transform from generalized torques to " |
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"joint-torque inputs.\n\n" |
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"It stores the results in data.Mtau.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint-torque input (dim nu)") |
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.def("createData", &Model::createData, &Model::default_createData, |
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bp::args("self"), |
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"Create the actuation data.\n\n" |
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"Each actuation model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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":return AM data.") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of joint-torque vector") |
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.add_property( |
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"state", |
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bp::make_function(&Model::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state"); |
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} |
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}; |
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template <typename Data> |
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struct ActuationDataAbstractVisitor |
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: public bp::def_visitor<ActuationDataAbstractVisitor<Data>> { |
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typedef typename Data::Scalar Scalar; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"tau", bp::make_getter(&Data::tau, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::tau), "generalized torques") |
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.add_property( |
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"u", bp::make_getter(&Data::u, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::u), "joint-torque inputs") |
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.add_property( |
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"dtau_dx", |
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bp::make_getter(&Data::dtau_dx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_dx), |
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"partial derivatives of the actuation model w.r.t. the state point") |
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.add_property( |
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"dtau_du", |
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bp::make_getter(&Data::dtau_du, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_du), |
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"partial derivatives of the actuation model w.r.t. the " |
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"joint-torque input") |
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.add_property( |
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"Mtau", |
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bp::make_getter(&Data::Mtau, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Mtau), |
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"torque transform from generalized torques to joint-torque input") |
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.add_property( |
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"tau_set", |
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bp::make_getter(&Data::tau_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::tau_set), "actuation set"); |
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} |
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}; |
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#define CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ActuationModelAbstractTpl<Scalar> Model; \ |
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typedef ActuationModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef StateAbstractTpl<Scalar> State; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ActuationModelAbstract", \ |
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"Abstract class for actuation-mapping models.\n\n" \ |
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"An actuation model is a function that maps state x and joint-torque " \ |
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"inputs u into generalized torques tau, where tau is also named as the " \ |
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"actuation signal of our system. The computation of the actuation " \ |
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"signal and its partial derivatives are mainly carried out inside " \ |
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"calc() and calcDiff(), respectively.", \ |
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bp::init<std::shared_ptr<State>, std::size_t>( \ |
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bp::args("self", "state", "nu"), \ |
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"Initialize the actuation model.\n\n" \ |
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":param state: state description,\n" \ |
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":param nu: dimension of the joint-torque input")) \ |
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.def(ActuationModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ActuationDataAbstractTpl<Scalar> Data; \ |
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typedef ActuationModelAbstractTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"ActuationDataAbstract", \ |
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"Abstract class for actuation datas.\n\n" \ |
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"An actuation data contains all the required information for " \ |
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"processing an user-defined actuation model. The actuation data " \ |
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"typically is allocated onces by running model.createData().", \ |
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bp::init<Model*>( \ |
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bp::args("self", "model"), \ |
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"Create common data shared between actuation models.\n\n" \ |
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"The actuation data uses the model in order to first process it.\n" \ |
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":param model: actuation model")) \ |
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.def(ActuationDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeActuationAbstract() { |
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CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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