1 |
|
|
|
2 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
3 |
|
|
// BSD 3-Clause License |
4 |
|
|
// |
5 |
|
|
// Copyright (C) 2019-2022, 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 "crocoddyl/core/utils/exception.hpp" |
15 |
|
|
#include "python/crocoddyl/core/core.hpp" |
16 |
|
|
|
17 |
|
|
namespace crocoddyl { |
18 |
|
|
namespace python { |
19 |
|
|
|
20 |
|
|
class ActuationModelAbstract_wrap : public ActuationModelAbstract, |
21 |
|
|
public bp::wrapper<ActuationModelAbstract> { |
22 |
|
|
public: |
23 |
|
3 |
ActuationModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
24 |
|
|
const std::size_t nu) |
25 |
|
3 |
: ActuationModelAbstract(state, nu), |
26 |
✓✗ |
3 |
bp::wrapper<ActuationModelAbstract>() {} |
27 |
|
|
|
28 |
|
|
void calc(const boost::shared_ptr<ActuationDataAbstract>& data, |
29 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x, |
30 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& u) { |
31 |
|
|
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
32 |
|
|
throw_pretty("Invalid argument: " |
33 |
|
|
<< "x has wrong dimension (it should be " + |
34 |
|
|
std::to_string(state_->get_nx()) + ")"); |
35 |
|
|
} |
36 |
|
|
if (static_cast<std::size_t>(u.size()) != nu_) { |
37 |
|
|
throw_pretty("Invalid argument: " |
38 |
|
|
<< "u has wrong dimension (it should be " + |
39 |
|
|
std::to_string(nu_) + ")"); |
40 |
|
|
} |
41 |
|
|
return bp::call<void>(this->get_override("calc").ptr(), data, |
42 |
|
|
(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
43 |
|
|
} |
44 |
|
|
|
45 |
|
|
void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, |
46 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x, |
47 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& u) { |
48 |
|
|
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
49 |
|
|
throw_pretty("Invalid argument: " |
50 |
|
|
<< "x has wrong dimension (it should be " + |
51 |
|
|
std::to_string(state_->get_nx()) + ")"); |
52 |
|
|
} |
53 |
|
|
if (static_cast<std::size_t>(u.size()) != nu_) { |
54 |
|
|
throw_pretty("Invalid argument: " |
55 |
|
|
<< "u has wrong dimension (it should be " + |
56 |
|
|
std::to_string(nu_) + ")"); |
57 |
|
|
} |
58 |
|
|
return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
59 |
|
|
(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
60 |
|
|
} |
61 |
|
|
|
62 |
|
|
void commands(const boost::shared_ptr<ActuationDataAbstract>& data, |
63 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x, |
64 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& tau) { |
65 |
|
|
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
66 |
|
|
throw_pretty("Invalid argument: " |
67 |
|
|
<< "x has wrong dimension (it should be " + |
68 |
|
|
std::to_string(state_->get_nx()) + ")"); |
69 |
|
|
} |
70 |
|
|
if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) { |
71 |
|
|
throw_pretty("Invalid argument: " |
72 |
|
|
<< "tau has wrong dimension (it should be " + |
73 |
|
|
std::to_string(state_->get_nv()) + ")"); |
74 |
|
|
} |
75 |
|
|
return bp::call<void>(this->get_override("commands").ptr(), data, |
76 |
|
|
(Eigen::VectorXd)x, (Eigen::VectorXd)tau); |
77 |
|
|
} |
78 |
|
|
|
79 |
|
|
void torqueTransform(const boost::shared_ptr<ActuationDataAbstract>& data, |
80 |
|
|
const Eigen::Ref<const VectorXs>& x, |
81 |
|
|
const Eigen::Ref<const VectorXs>& u) { |
82 |
|
|
if (boost::python::override torqueTransform = |
83 |
|
|
this->get_override("torqueTransform")) { |
84 |
|
|
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
85 |
|
|
throw_pretty("Invalid argument: " |
86 |
|
|
<< "x has wrong dimension (it should be " + |
87 |
|
|
std::to_string(state_->get_nx()) + ")"); |
88 |
|
|
} |
89 |
|
|
if (static_cast<std::size_t>(u.size()) != nu_) { |
90 |
|
|
throw_pretty("Invalid argument: " |
91 |
|
|
<< "u has wrong dimension (it should be " + |
92 |
|
|
std::to_string(nu_) + ")"); |
93 |
|
|
} |
94 |
|
|
return bp::call<void>(torqueTransform.ptr(), data, (Eigen::VectorXd)x, |
95 |
|
|
(Eigen::VectorXd)u); |
96 |
|
|
} |
97 |
|
|
return ActuationModelAbstract::torqueTransform(data, x, u); |
98 |
|
|
} |
99 |
|
|
|
100 |
|
|
void default_torqueTransform( |
101 |
|
|
const boost::shared_ptr<ActuationDataAbstract>& data, |
102 |
|
|
const Eigen::Ref<const VectorXs>& x, |
103 |
|
|
const Eigen::Ref<const VectorXs>& u) { |
104 |
|
|
return this->ActuationModelAbstract::torqueTransform(data, x, u); |
105 |
|
|
} |
106 |
|
|
|
107 |
|
|
boost::shared_ptr<ActuationDataAbstract> createData() { |
108 |
|
|
enableMultithreading() = false; |
109 |
|
|
if (boost::python::override createData = this->get_override("createData")) { |
110 |
|
|
return bp::call<boost::shared_ptr<ActuationDataAbstract> >( |
111 |
|
|
createData.ptr()); |
112 |
|
|
} |
113 |
|
|
return ActuationModelAbstract::createData(); |
114 |
|
|
} |
115 |
|
|
|
116 |
|
6 |
boost::shared_ptr<ActuationDataAbstract> default_createData() { |
117 |
|
6 |
return this->ActuationModelAbstract::createData(); |
118 |
|
|
} |
119 |
|
|
}; |
120 |
|
|
|
121 |
|
|
} // namespace python |
122 |
|
|
} // namespace crocoddyl |
123 |
|
|
|
124 |
|
|
#endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTUATION_BASE_HPP_ |