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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, 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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#include "crocoddyl/core/actions/unicycle.hpp" |
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#include "python/crocoddyl/core/action-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeActionUnicycle() { |
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bp::register_ptr_to_python<boost::shared_ptr<ActionModelUnicycle> >(); |
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✓✗ |
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bp::class_<ActionModelUnicycle, bp::bases<ActionModelAbstract> >( |
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"ActionModelUnicycle", |
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"Unicycle action model.\n\n" |
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"The transition model of an unicycle system is described as\n" |
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" xnext = [v*cos(theta); v*sin(theta); w],\n" |
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"where the position is defined by (x, y, theta) and the control input\n" |
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"by (v,w). Note that the state is defined only with the position. On " |
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"the\n" |
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"other hand, we define the quadratic cost functions for the state and\n" |
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"control.", |
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bp::init<>(bp::args("self"), "Initialize the unicycle action model.")) |
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.def<void (ActionModelUnicycle::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActionModelUnicycle::calc, |
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bp::args("self", "data", "x", "u"), |
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"Compute the next state and cost value.\n\n" |
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"It describes the time-discrete evolution of the unicycle system.\n" |
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"Additionally it computes the cost value associated to this " |
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"discrete\n" |
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"state and control pair.\n" |
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":param data: action 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<void (ActionModelUnicycle::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActionModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (ActionModelUnicycle::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActionModelUnicycle::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the unicycle dynamics and cost " |
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"functions.\n\n" |
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"It computes the partial derivatives of the unicycle system and the\n" |
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"cost function. It assumes that calc has been run first.\n" |
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"This function builds a quadratic approximation of the\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: action 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<void (ActionModelUnicycle::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &ActionModelUnicycle::createData, bp::args("self"), |
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"Create the unicycle action data.") |
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.add_property("dt", bp::make_function(&ActionModelUnicycle::get_dt), |
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bp::make_function(&ActionModelUnicycle::set_dt), |
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"integration time") |
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.add_property("costWeights", |
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bp::make_function(&ActionModelUnicycle::get_cost_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelUnicycle::set_cost_weights), |
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"cost weights") |
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.def(CopyableVisitor<ActionModelUnicycle>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ActionDataUnicycle> >(); |
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bp::class_<ActionDataUnicycle, bp::bases<ActionDataAbstract> >( |
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"ActionDataUnicycle", |
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"Action data for the Unicycle system.\n\n" |
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"The unicycle data, apart of common one, contains the cost residuals " |
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"used\n" |
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"for the computation of calc and calcDiff.", |
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bp::init<ActionModelUnicycle*>(bp::args("self", "model"), |
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"Create unicycle data.\n\n" |
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":param model: unicycle action model")) |
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.def(CopyableVisitor<ActionDataUnicycle>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |