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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2023, University of Edinburgh, 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/constraints/residual.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 exposeConstraintResidual() { |
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bp::register_ptr_to_python<boost::shared_ptr<ConstraintModelResidual> >(); |
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✓✗ |
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bp::class_<ConstraintModelResidual, bp::bases<ConstraintModelAbstract> >( |
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"ConstraintModelResidual", |
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"This defines equality / inequality constraints based on a residual " |
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"vector and its bounds.", |
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✓✗ |
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bp::init<boost::shared_ptr<StateAbstract>, |
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boost::shared_ptr<ResidualModelAbstract>, Eigen::VectorXd, |
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Eigen::VectorXd>( |
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bp::args("self", "state", "residual", "lower", "upper"), |
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"Initialize the residual constraint model as an inequality " |
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"constraint.\n\n" |
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":param state: state description\n" |
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":param residual: residual model\n" |
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":param lower: lower bound\n" |
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":param upper: upper bound")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<StateAbstract>, |
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boost::shared_ptr<ResidualModelAbstract> >( |
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bp::args("self", "state", "residual"), |
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"Initialize the residual constraint model as an equality " |
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"constraint.\n\n" |
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":param state: state description\n" |
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✓✗ |
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":param residual: residual model")) |
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.def<void (ConstraintModelResidual::*)( |
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const boost::shared_ptr<ConstraintDataAbstract>&, |
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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", &ConstraintModelResidual::calc, |
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✓✗ |
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bp::args("self", "data", "x", "u"), |
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"Compute the residual constraint.\n\n" |
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":param data: constraint 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 (ConstraintModelResidual::*)( |
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const boost::shared_ptr<ConstraintDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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✓✗ |
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"calc", &ConstraintModelAbstract::calc, bp::args("self", "data", "x"), |
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"Compute the residual constraint based on state only.\n\n" |
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"It updates the constraint based on the state only.\n" |
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"This function is commonly used in the terminal nodes of an optimal " |
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"control problem.\n" |
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":param data: constraint data\n" |
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✓✗ |
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":param x: state point (dim. state.nx)") |
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.def<void (ConstraintModelResidual::*)( |
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const boost::shared_ptr<ConstraintDataAbstract>&, |
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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", &ConstraintModelResidual::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the residual constraint.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: constraint 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)\n") |
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.def<void (ConstraintModelResidual::*)( |
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const boost::shared_ptr<ConstraintDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ConstraintModelAbstract::calcDiff, |
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✓✗ |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of the residual constraint with respect to " |
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"the state only.\n\n" |
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"It updates the Jacobian of the constraint function based on the " |
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"state only.\n" |
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"This function is commonly used in the terminal nodes of an optimal " |
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"control problem.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &ConstraintModelResidual::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the residual constraint data.\n\n" |
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"Each constraint model has its own data that needs to be allocated. " |
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"This function\n" |
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"returns the allocated data for a predefined constraint.\n" |
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":param data: shared data\n" |
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✓✗✓✗
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":return constraint data.") |
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.def(CopyableVisitor<ConstraintModelResidual>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ConstraintDataResidual> >(); |
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✓✗ |
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bp::class_<ConstraintDataResidual, bp::bases<ConstraintDataAbstract> >( |
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"ConstraintDataResidual", "Data for residual constraint.\n\n", |
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bp::init<ConstraintModelResidual*, DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create residual constraint data.\n\n" |
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":param model: residual constraint model\n" |
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":param data: shared data")[bp::with_custodian_and_ward< |
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1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
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.def(CopyableVisitor<ConstraintDataResidual>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |