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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 "python/crocoddyl/core/actuation-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 exposeActuationAbstract() { |
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bp::register_ptr_to_python<boost::shared_ptr<ActuationModelAbstract> >(); |
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bp::class_<ActuationModelAbstract_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\n" |
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"torques tau, where tau is also named as the actuation signal of our " |
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"system.\n" |
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"The computation of the actuation signal and its partial derivatives are " |
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"mainly carried out\n" |
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"inside calc() and calcDiff(), respectively.", |
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bp::init<boost::shared_ptr<StateAbstract>, int>( |
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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("calc", pure_virtual(&ActuationModelAbstract_wrap::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<void (ActuationModelAbstract::*)( |
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const boost::shared_ptr<ActuationDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActuationModelAbstract::calc, 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 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(&ActuationModelAbstract_wrap::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<void (ActuationModelAbstract::*)( |
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const boost::shared_ptr<ActuationDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActuationModelAbstract::calcDiff, |
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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 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(&ActuationModelAbstract_wrap::commands), |
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bp::args("self", "data", "x", "tau"), |
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"Compute the joint-torque commands from the generalized 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", &ActuationModelAbstract_wrap::torqueTransform, |
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&ActuationModelAbstract_wrap::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", &ActuationModelAbstract_wrap::createData, |
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&ActuationModelAbstract_wrap::default_createData, 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", |
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bp::make_function(&ActuationModelAbstract_wrap::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(&ActuationModelAbstract_wrap::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state"); |
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bp::register_ptr_to_python<boost::shared_ptr<ActuationDataAbstract> >(); |
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bp::class_<ActuationDataAbstract>( |
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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 processing " |
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"an user-defined \n" |
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"actuation model. The actuation data typically is allocated onces by " |
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"running model.createData().", |
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bp::init<ActuationModelAbstract*>( |
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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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.add_property("tau", |
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bp::make_getter(&ActuationDataAbstract::tau, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ActuationDataAbstract::tau), |
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"generalized torques") |
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.add_property("u", |
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bp::make_getter(&ActuationDataAbstract::u, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ActuationDataAbstract::u), |
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"joint-torque inputs") |
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.add_property( |
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"dtau_dx", |
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bp::make_getter(&ActuationDataAbstract::dtau_dx, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ActuationDataAbstract::dtau_dx), |
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"partial derivatives of the actuation model w.r.t. the state point") |
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.add_property("dtau_du", |
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bp::make_getter(&ActuationDataAbstract::dtau_du, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ActuationDataAbstract::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(&ActuationDataAbstract::Mtau, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ActuationDataAbstract::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(&ActuationDataAbstract::tau_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&ActuationDataAbstract::tau_set), "actuation set") |
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.def(CopyableVisitor<ActuationDataAbstract>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |