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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2023, LAAS-CNRS, University of Edinburgh, |
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// University of Trento, Heriot-Watt University |
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// Copyright note valid unless otherwise controld in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "python/crocoddyl/core/control-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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#include "python/crocoddyl/utils/vector-converter.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeControlParametrizationAbstract() { |
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// Register custom converters between std::vector and Python list |
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typedef boost::shared_ptr<ControlParametrizationModelAbstract> |
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ControlParametrizationModelPtr; |
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typedef boost::shared_ptr<ControlParametrizationDataAbstract> |
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ControlParametrizationDataPtr; |
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StdVectorPythonVisitor<std::vector<ControlParametrizationModelPtr>, |
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✓✗✓✗
✓✗ |
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true>::expose("StdVec_ControlParametrizationModel"); |
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StdVectorPythonVisitor<std::vector<ControlParametrizationDataPtr>, |
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✓✗✓✗
✓✗ |
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true>::expose("StdVec_ControlParametrizationData"); |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ControlParametrizationModelAbstract> >(); |
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✓✗ |
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bp::class_<ControlParametrizationModelAbstract_wrap, boost::noncopyable>( |
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"ControlParametrizationModelAbstract", |
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"Abstract class for the control parametrization.\n\n" |
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"A control is a function of time (normalized in [0,1]) and the control " |
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"parameters u.", |
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✓✗ |
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bp::init<std::size_t, std::size_t>( |
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bp::args("self", "nw", "nu"), |
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"Initialize the control dimensions.\n\n" |
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":param nw: dimension of control inputs\n" |
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":param nu: dimension of control parameters")) |
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.def("calc", |
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pure_virtual(&ControlParametrizationModelAbstract_wrap::calc), |
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✓✗ |
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bp::args("self", "t", "u"), |
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"Compute the control inputs.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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✓✗✓✗
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":param u: control parameters (dim control.nu)") |
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.def("calcDiff", |
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pure_virtual(&ControlParametrizationModelAbstract_wrap::calcDiff), |
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✓✗ |
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bp::args("self", "data", "t", "u"), |
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"Compute the Jacobian of the control inputs with respect to the " |
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"control parameters.\n" |
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"It assumes that calc has been run first.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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✓✗✓✗
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":param u: control parameters (dim control.nu)") |
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.def("createData", &ControlParametrizationModelAbstract_wrap::createData, |
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&ControlParametrizationModelAbstract_wrap::default_createData, |
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bp::args("self"), |
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"Create the control-parametrization data.\n\n" |
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"Each control parametrization model has its own data that needs to " |
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"be allocated.\n" |
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"This function returns the allocated data for a predefined control " |
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"parametrization model.\n" |
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✓✗ |
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":return data.") |
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.def("params", |
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pure_virtual(&ControlParametrizationModelAbstract_wrap::params), |
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✓✗ |
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bp::args("self", "data", "t", "w"), |
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"Update the control parameters u for a specified time t given the " |
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"control input w.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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✓✗✓✗
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":param w: control inputs (dim control.nw)") |
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.def("convertBounds", |
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pure_virtual( |
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&ControlParametrizationModelAbstract_wrap::convertBounds_wrap), |
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✓✗ |
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bp::args("self", "w_lb", "w_ub"), |
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"Convert the bounds on the control inputs w to bounds on the " |
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"control parameters u.\n\n" |
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":param w_lb: control lower bounds (dim control.nw)\n" |
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":param w_ub: control upper bounds (dim control.nw)\n" |
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":return p_lb, p_ub: lower and upper bounds on the control " |
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✓✗✓✗
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"parameters (dim control.nu)") |
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.def("multiplyByJacobian", |
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pure_virtual(&ControlParametrizationModelAbstract_wrap:: |
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multiplyByJacobian_wrap), |
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✓✗ |
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bp::args("self", "data", "A"), |
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"Compute the product between the given matrix A and the derivative " |
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"of the control input \n" |
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"with respect to the control parameters (i.e., A*dw_du).\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim na x control.nw)\n" |
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":return Product between A and the partial derivative of the calc " |
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✓✗✓✗
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"function (dim na x control.nu)") |
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.def("multiplyJacobianTransposeBy", |
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pure_virtual(&ControlParametrizationModelAbstract_wrap:: |
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multiplyJacobianTransposeBy_wrap), |
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✓✗ |
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bp::args("self", "data", "A"), |
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"Compute the product between the transpose of the derivative of the " |
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"control input \n" |
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"with respect to the control parameters and a given matrix A (i.e., " |
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"dw_du^T*A).\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim control.nw x na)\n" |
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":return Product between the partial derivative of the calc " |
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"function (transposed) and A (dim control.nu x " |
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✓✗✓✗
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"na)") |
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.add_property( |
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"nw", |
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bp::make_function(&ControlParametrizationModelAbstract_wrap::get_nw), |
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✓✗ |
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"dimension of control inputs") |
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.add_property( |
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"nu", |
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bp::make_function(&ControlParametrizationModelAbstract_wrap::get_nu), |
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"dimension of the control parameters"); |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ControlParametrizationDataAbstract> >(); |
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✓✗ |
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bp::class_<ControlParametrizationDataAbstract>( |
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"ControlParametrizationDataAbstract", |
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"Abstract class for control parametrization data.\n", |
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bp::init<ControlParametrizationModelAbstract*>( |
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bp::args("self", "model"), |
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"Create common data shared between control parametrization " |
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"models.\n\n" |
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":param model: control parametrization model")) |
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.add_property("w", |
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bp::make_getter(&ControlParametrizationDataAbstract::w, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ControlParametrizationDataAbstract::w), |
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"differential control") |
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.add_property("u", |
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✓✗ |
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bp::make_getter(&ControlParametrizationDataAbstract::u, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ControlParametrizationDataAbstract::u), |
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"control parameters") |
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.add_property( |
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"dw_du", |
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bp::make_getter(&ControlParametrizationDataAbstract::dw_du, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ControlParametrizationDataAbstract::dw_du), |
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"Jacobian of the differential control wrt the control parameters") |
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.def(CopyableVisitor<ControlParametrizationDataAbstract>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |