| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | |||
| 2 | /////////////////////////////////////////////////////////////////////////////// | ||
| 3 | // BSD 3-Clause License | ||
| 4 | // | ||
| 5 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | class ActuationModelAbstractTpl_wrap | ||
| 21 | : public ActuationModelAbstractTpl<Scalar>, | ||
| 22 | public bp::wrapper<ActuationModelAbstractTpl<Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef typename crocoddyl::ActuationModelAbstractTpl<Scalar> ActuationModel; | ||
| 28 | typedef typename crocoddyl::ActuationDataAbstractTpl<Scalar> ActuationData; | ||
| 29 | typedef typename ActuationModel::StateAbstract State; | ||
| 30 | typedef typename ActuationModel::VectorXs VectorXs; | ||
| 31 | using ActuationModel::nu_; | ||
| 32 | using ActuationModel::state_; | ||
| 33 | |||
| 34 | ✗ | ActuationModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 35 | const std::size_t nu) | ||
| 36 | ✗ | : ActuationModel(state, nu), bp::wrapper<ActuationModel>() {} | |
| 37 | |||
| 38 | ✗ | void calc(const std::shared_ptr<ActuationData>& data, | |
| 39 | const Eigen::Ref<const VectorXs>& x, | ||
| 40 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 41 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 42 | ✗ | throw_pretty( | |
| 43 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 44 | std::to_string(state_->get_nx()) + ")"); | ||
| 45 | } | ||
| 46 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 47 | ✗ | throw_pretty( | |
| 48 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 49 | std::to_string(nu_) + ")"); | ||
| 50 | } | ||
| 51 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, | |
| 52 | ✗ | (VectorXs)u); | |
| 53 | } | ||
| 54 | |||
| 55 | ✗ | void calcDiff(const std::shared_ptr<ActuationData>& data, | |
| 56 | const Eigen::Ref<const VectorXs>& x, | ||
| 57 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 58 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 59 | ✗ | throw_pretty( | |
| 60 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 61 | std::to_string(state_->get_nx()) + ")"); | ||
| 62 | } | ||
| 63 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 64 | ✗ | throw_pretty( | |
| 65 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 66 | std::to_string(nu_) + ")"); | ||
| 67 | } | ||
| 68 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 69 | ✗ | (VectorXs)x, (VectorXs)u); | |
| 70 | } | ||
| 71 | |||
| 72 | ✗ | void commands(const std::shared_ptr<ActuationData>& data, | |
| 73 | const Eigen::Ref<const VectorXs>& x, | ||
| 74 | const Eigen::Ref<const VectorXs>& tau) override { | ||
| 75 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 76 | ✗ | throw_pretty( | |
| 77 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 78 | std::to_string(state_->get_nx()) + ")"); | ||
| 79 | } | ||
| 80 | ✗ | if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) { | |
| 81 | ✗ | throw_pretty( | |
| 82 | "Invalid argument: " << "tau has wrong dimension (it should be " + | ||
| 83 | std::to_string(state_->get_nv()) + ")"); | ||
| 84 | } | ||
| 85 | ✗ | return bp::call<void>(this->get_override("commands").ptr(), data, | |
| 86 | ✗ | (VectorXs)x, (VectorXs)tau); | |
| 87 | } | ||
| 88 | |||
| 89 | ✗ | void torqueTransform(const std::shared_ptr<ActuationData>& data, | |
| 90 | const Eigen::Ref<const VectorXs>& x, | ||
| 91 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 92 | ✗ | if (boost::python::override torqueTransform = | |
| 93 | this->get_override("torqueTransform")) { | ||
| 94 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 95 | ✗ | throw_pretty( | |
| 96 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 97 | std::to_string(state_->get_nx()) + ")"); | ||
| 98 | } | ||
| 99 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 100 | ✗ | throw_pretty( | |
| 101 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 102 | std::to_string(nu_) + ")"); | ||
| 103 | } | ||
| 104 | ✗ | return bp::call<void>(torqueTransform.ptr(), data, (VectorXs)x, | |
| 105 | ✗ | (VectorXs)u); | |
| 106 | } | ||
| 107 | ✗ | return ActuationModel::torqueTransform(data, x, u); | |
| 108 | } | ||
| 109 | |||
| 110 | ✗ | void default_torqueTransform(const std::shared_ptr<ActuationData>& data, | |
| 111 | const Eigen::Ref<const VectorXs>& x, | ||
| 112 | const Eigen::Ref<const VectorXs>& u) { | ||
| 113 | ✗ | return this->ActuationModel::torqueTransform(data, x, u); | |
| 114 | } | ||
| 115 | |||
| 116 | ✗ | std::shared_ptr<ActuationData> createData() override { | |
| 117 | ✗ | enableMultithreading() = false; | |
| 118 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 119 | ✗ | return bp::call<std::shared_ptr<ActuationData>>(createData.ptr()); | |
| 120 | } | ||
| 121 | ✗ | return ActuationModel::createData(); | |
| 122 | } | ||
| 123 | |||
| 124 | ✗ | std::shared_ptr<ActuationData> default_createData() { | |
| 125 | ✗ | return this->ActuationModel::createData(); | |
| 126 | } | ||
| 127 | |||
| 128 | template <typename NewScalar> | ||
| 129 | ✗ | ActuationModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 130 | typedef ActuationModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 131 | typedef StateAbstractTpl<NewScalar> StateType; | ||
| 132 | ✗ | ReturnType ret( | |
| 133 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 134 | ✗ | nu_); | |
| 135 | ✗ | return ret; | |
| 136 | } | ||
| 137 | }; | ||
| 138 | |||
| 139 | } // namespace python | ||
| 140 | } // namespace crocoddyl | ||
| 141 | |||
| 142 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 143 |