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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2022, LAAS-CNRS, University of Edinburgh, University of |
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// Trento Copyright note valid unless otherwise stated in individual files. All |
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// rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_CONTROL_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_CONTROL_BASE_HPP_ |
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#include "crocoddyl/core/control-base.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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namespace crocoddyl { |
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namespace python { |
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class ControlParametrizationModelAbstract_wrap |
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: public ControlParametrizationModelAbstract, |
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public bp::wrapper<ControlParametrizationModelAbstract> { |
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public: |
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ControlParametrizationModelAbstract_wrap(std::size_t nw, std::size_t nu) |
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: ControlParametrizationModelAbstract(nw, nu), |
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bp::wrapper<ControlParametrizationModelAbstract>() {} |
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void calc(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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double t, const Eigen::Ref<const Eigen::VectorXd>& u) const { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calc").ptr(), data, t, |
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(Eigen::VectorXd)u); |
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} |
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void calcDiff( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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double t, const Eigen::Ref<const Eigen::VectorXd>& u) const { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, t, |
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(Eigen::VectorXd)u); |
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} |
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void params(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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double t, const Eigen::Ref<const Eigen::VectorXd>& w) const { |
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if (static_cast<std::size_t>(w.size()) != nw_) { |
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throw_pretty("Invalid argument: " |
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<< "w has wrong dimension (it should be " + |
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std::to_string(nw_) + ")"); |
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} |
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return bp::call<void>(this->get_override("params").ptr(), data, t, |
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(Eigen::VectorXd)w); |
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} |
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boost::shared_ptr<ControlParametrizationDataAbstract> createData() { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<boost::shared_ptr<ControlParametrizationDataAbstract> >( |
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createData.ptr()); |
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} |
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return ControlParametrizationModelAbstract::createData(); |
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} |
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boost::shared_ptr<ControlParametrizationDataAbstract> default_createData() { |
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return this->ControlParametrizationModelAbstract::createData(); |
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} |
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void convertBounds(const Eigen::Ref<const Eigen::VectorXd>& w_lb, |
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const Eigen::Ref<const Eigen::VectorXd>& w_ub, |
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Eigen::Ref<Eigen::VectorXd> u_lb, |
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Eigen::Ref<Eigen::VectorXd> u_ub) const { |
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bp::list res = convertBounds_wrap(w_lb, w_ub); |
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u_lb.derived() = bp::extract<Eigen::VectorXd>(res[0])(); |
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u_ub.derived() = bp::extract<Eigen::VectorXd>(res[1])(); |
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} |
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bp::list convertBounds_wrap( |
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const Eigen::Ref<const Eigen::VectorXd>& w_lb, |
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const Eigen::Ref<const Eigen::VectorXd>& w_ub) const { |
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bp::list p_bounds = |
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bp::call<bp::list>(this->get_override("convertBounds").ptr(), |
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(Eigen::VectorXd)w_lb, (Eigen::VectorXd)w_ub); |
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return p_bounds; |
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} |
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void multiplyByJacobian( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::MatrixXd>& A, |
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Eigen::Ref<Eigen::MatrixXd> out, const AssignmentOp op) const { |
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switch (op) { |
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case setto: { |
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out = multiplyByJacobian_wrap(data, A); |
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break; |
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} |
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case addto: { |
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out += multiplyByJacobian_wrap(data, A); |
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break; |
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} |
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case rmfrom: { |
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out -= multiplyByJacobian_wrap(data, A); |
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break; |
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} |
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default: { |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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} |
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Eigen::MatrixXd multiplyByJacobian_wrap( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::MatrixXd>& A) const { |
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return bp::call<Eigen::MatrixXd>( |
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this->get_override("multiplyByJacobian").ptr(), data, |
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(Eigen::MatrixXd)A); |
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} |
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void multiplyJacobianTransposeBy( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::MatrixXd>& A, |
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Eigen::Ref<Eigen::MatrixXd> out, const AssignmentOp op) const { |
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switch (op) { |
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case setto: { |
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out = multiplyJacobianTransposeBy_wrap(data, A); |
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break; |
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} |
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case addto: { |
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out += multiplyJacobianTransposeBy_wrap(data, A); |
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break; |
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} |
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case rmfrom: { |
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out -= multiplyJacobianTransposeBy_wrap(data, A); |
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break; |
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} |
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default: { |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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} |
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Eigen::MatrixXd multiplyJacobianTransposeBy_wrap( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::MatrixXd>& A) const { |
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return bp::call<Eigen::MatrixXd>( |
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this->get_override("multiplyJacobianTransposeBy").ptr(), data, |
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(Eigen::MatrixXd)A); |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_CONTROL_BASE_HPP_ |