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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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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ |
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#include "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 Scalar> |
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class ActuationModelAbstractTpl_wrap |
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: public ActuationModelAbstractTpl<Scalar>, |
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public bp::wrapper<ActuationModelAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelAbstractTpl_wrap) |
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typedef typename crocoddyl::ActuationModelAbstractTpl<Scalar> ActuationModel; |
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typedef typename crocoddyl::ActuationDataAbstractTpl<Scalar> ActuationData; |
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typedef typename ActuationModel::StateAbstract State; |
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typedef typename ActuationModel::VectorXs VectorXs; |
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using ActuationModel::nu_; |
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using ActuationModel::state_; |
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ActuationModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t nu) |
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: ActuationModel(state, nu), bp::wrapper<ActuationModel>() {} |
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void calc(const std::shared_ptr<ActuationData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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void calcDiff(const std::shared_ptr<ActuationData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x, (VectorXs)u); |
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} |
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void commands(const std::shared_ptr<ActuationData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& tau) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) { |
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throw_pretty( |
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"Invalid argument: " << "tau has wrong dimension (it should be " + |
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std::to_string(state_->get_nv()) + ")"); |
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} |
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return bp::call<void>(this->get_override("commands").ptr(), data, |
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(VectorXs)x, (VectorXs)tau); |
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} |
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void torqueTransform(const std::shared_ptr<ActuationData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (boost::python::override torqueTransform = |
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this->get_override("torqueTransform")) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(torqueTransform.ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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return ActuationModel::torqueTransform(data, x, u); |
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} |
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void default_torqueTransform(const std::shared_ptr<ActuationData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) { |
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return this->ActuationModel::torqueTransform(data, x, u); |
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} |
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std::shared_ptr<ActuationData> createData() override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ActuationData>>(createData.ptr()); |
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} |
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return ActuationModel::createData(); |
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} |
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std::shared_ptr<ActuationData> default_createData() { |
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return this->ActuationModel::createData(); |
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} |
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template <typename NewScalar> |
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ActuationModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef ActuationModelAbstractTpl_wrap<NewScalar> ReturnType; |
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typedef StateAbstractTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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nu_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ |
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