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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, IRI: CSIC-UPC |
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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 "crocoddyl/core/actuation/actuation-squashing.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 ActuationModelSquashingVisitor |
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: public bp::def_visitor<ActuationModelSquashingVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::ActuationDataAbstract Data; |
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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", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the actuation signal from the squashing 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: squashing function input") |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives 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. It assumes that calc has been run " |
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"first.\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: control input (dim. nu).") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the actuation squashing 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( |
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"squashing", |
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bp::make_function(&Model::get_squashing, |
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bp::return_value_policy<bp::return_by_value>()), |
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"squashing") |
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.add_property( |
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"actuation", |
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bp::make_function(&Model::get_actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"actuation"); |
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} |
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}; |
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template <typename Data> |
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struct ActuationDataSquashingVisitor |
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: public bp::def_visitor<ActuationDataSquashingVisitor<Data>> { |
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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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"squashing", |
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bp::make_getter(&Data::squashing, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::squashing), |
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"Data of the associated squashing model") |
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.add_property( |
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"actuation", |
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bp::make_getter(&Data::actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::actuation), |
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"Data of the associated actuation model"); |
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} |
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}; |
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#define CROCODDYL_ACTUATION_MODEL_SQUASHING_PYTHON_BINDINGS(Scalar) \ |
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typedef ActuationSquashingModelTpl<Scalar> Model; \ |
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typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ |
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typedef SquashingModelAbstractTpl<Scalar> Squashing; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ActuationSquashingModel", \ |
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"Class for squashing an actuation model.\n\n", \ |
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bp::init<std::shared_ptr<ModelBase>, std::shared_ptr<Squashing>, \ |
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std::size_t>( \ |
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bp::args("self", "actuation", "squashing", "nu"), \ |
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"Initialize the actuation model with squashing function.\n\n" \ |
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":param actuation: actuation model to be squashed.\n" \ |
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":param squashing: squashing function.\n" \ |
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":param nu: number of controls")) \ |
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.def(ActuationModelSquashingVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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#define CROCODDYL_ACTUATION_DATA_SQUASHING_PYTHON_BINDINGS(Scalar) \ |
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typedef ActuationSquashingDataTpl<Scalar> Data; \ |
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typedef ActuationDataAbstractTpl<Scalar> DataBase; \ |
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typedef ActuationSquashingModelTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"ActuationSquashingData", \ |
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"Class for actuation datas using squashing functions.\n\n" \ |
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"In crocoddyl, an actuation data contains all the required information " \ |
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"for processing an user-defined actuation model. The actuation data " \ |
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"typically is allocated onces by running via 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(ActuationDataSquashingVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeActuationSquashing() { |
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CROCODDYL_ACTUATION_MODEL_SQUASHING_PYTHON_BINDINGS(float) |
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CROCODDYL_ACTUATION_DATA_SQUASHING_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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