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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, 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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#include "crocoddyl/core/actuation/actuation-squashing.hpp" |
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#include "crocoddyl/core/utils/exception.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 exposeActuationSquashing() { |
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bp::register_ptr_to_python<boost::shared_ptr<ActuationSquashingModel> >(); |
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✓✗ |
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bp::class_<ActuationSquashingModel, bp::bases<ActuationModelAbstract> >( |
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"ActuationSquashingModel", "Class for squashing an actuation model.\n\n", |
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✓✗ |
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bp::init<boost::shared_ptr<ActuationModelAbstract>, |
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boost::shared_ptr<SquashingModelAbstract>, int>( |
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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<void (ActuationSquashingModel::*)( |
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const boost::shared_ptr<ActuationDataAbstract>&, |
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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", &ActuationSquashingModel::calc, |
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✓✗ |
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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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✓✗ |
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":param u: squashing function input") |
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.def<void (ActuationSquashingModel::*)( |
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const boost::shared_ptr<ActuationDataAbstract>&, |
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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", &ActuationSquashingModel::calcDiff, |
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✓✗ |
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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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✓✗ |
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":param u: control input (dim. nu).") |
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.def("createData", &ActuationSquashingModel::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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✓✗ |
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":return AM data.") |
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.add_property( |
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"squashing", |
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✓✗ |
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bp::make_function(&ActuationSquashingModel::get_squashing, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"squashing") |
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.add_property( |
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"actuation", |
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✓✗ |
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bp::make_function(&ActuationSquashingModel::get_actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"actuation") |
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✓✗ |
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.def(CopyableVisitor<ActuationSquashingModel>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ActuationSquashingData> >(); |
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✓✗ |
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bp::class_<ActuationSquashingData, bp::bases<ActuationDataAbstract> >( |
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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\n" |
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"user-defined actuation model. The actuation data typically is allocated " |
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"onces by running\n" |
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"model.createData().", |
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✓✗ |
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bp::init<ActuationSquashingModel*>( |
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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( |
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"squashing", |
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✓✗ |
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bp::make_getter(&ActuationSquashingData::squashing, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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bp::make_setter(&ActuationSquashingData::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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✓✗ |
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bp::make_getter(&ActuationSquashingData::actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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bp::make_setter(&ActuationSquashingData::actuation), |
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✓✗ |
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"Data of the associated actuation model") |
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✓✗ |
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.def(CopyableVisitor<ActuationSquashingData>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |