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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, University of Trento |
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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/controls/poly-two-rk.hpp" |
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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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namespace crocoddyl { |
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namespace python { |
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void exposeControlParametrizationPolyTwoRK() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ControlParametrizationModelPolyTwoRK> >(); |
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✓✗ |
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bp::class_<ControlParametrizationModelPolyTwoRK, |
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bp::bases<ControlParametrizationModelAbstract> >( |
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"ControlParametrizationModelPolyTwoRK", |
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"Second-order polynomial control for RK integrators.\n\n" |
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"This control is a quadratic function of time (normalized in [0,1]).\n" |
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"It comes in two versions, one specialized for RK3 integration, another " |
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"for RK4 integration." |
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"The first third of the parameter vector contains the initial value of " |
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"the differential control w,\n" |
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"the second third contains the value of w at t=0.5 (for RK4) or 1/3 (for " |
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"RK3), and the last third is the final\n" |
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"value\n of w at time t=1 (for RK4) or 2/3 (for RK3).", |
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✓✗ |
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bp::init<std::size_t, RKType>( |
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bp::args("self", "nw", "rktype"), |
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"Initialize the control dimensions.\n\n" |
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":param nw: dimension of differential control space\n" |
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":param rktype: type of RK parametrization")) |
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.def<void (ControlParametrizationModelPolyTwoRK::*)( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>&, double, |
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const Eigen::Ref<const Eigen::VectorXd>&) const>( |
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"calc", &ControlParametrizationModelPolyTwoRK::calc, |
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✓✗ |
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bp::args("self", "data", "t", "u"), |
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"Compute the control value.\n\n" |
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":param data: poly-two-rk 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<void (ControlParametrizationModelPolyTwoRK::*)( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>&, double, |
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const Eigen::Ref<const Eigen::VectorXd>&) const>( |
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"calcDiff", &ControlParametrizationModelPolyTwoRK::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 value 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: poly-two-rk 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", &ControlParametrizationModelPolyTwoRK::createData, |
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✓✗✓✗
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bp::args("self"), "Create the poly-two-rk data.") |
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.def<void (ControlParametrizationModelPolyTwoRK::*)( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>&, double, |
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const Eigen::Ref<const Eigen::VectorXd>&) const>( |
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"params", &ControlParametrizationModelPolyTwoRK::params, |
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✓✗ |
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bp::args("self", "data", "t", "w"), |
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"Compute the control parameters.\n\n" |
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":param data: poly-two-rk 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 value (dim control.nw)") |
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.def("convertBounds", |
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&ControlParametrizationModelPolyTwoRK::convertBounds, |
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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 to bounds on the control " |
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"parameters.\n\n" |
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":param w_lb: lower bounds on w (dim control.nw)\n" |
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":param w_ub: upper bounds on w (dim control.nw)\n" |
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":return u_lb, u_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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&ControlParametrizationModelPolyTwoRK::multiplyByJacobian_J, |
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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 with respect to the " |
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"parameters.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: poly-two-rk 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 " |
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✓✗ |
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"control (dim na x control.nu)") |
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.def("multiplyJacobianTransposeBy", |
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&ControlParametrizationModelPolyTwoRK::multiplyJacobianTransposeBy_J, |
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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 with respect to the parameters\n" |
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"and a given matrix A.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: poly-two-rk 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 control " |
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"(transposed) and A (dim control.nu x " |
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✓✗ |
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"na)") |
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✓✗ |
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.def(CopyableVisitor<ControlParametrizationModelPolyTwoRK>()); |
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boost::python::register_ptr_to_python< |
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boost::shared_ptr<ControlParametrizationDataPolyTwoRK> >(); |
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✓✗ |
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bp::class_<ControlParametrizationDataPolyTwoRK, |
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bp::bases<ControlParametrizationDataAbstract> >( |
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"ControlParametrizationDataPolyTwoRK", |
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"Control-parametrization data for the second-order polynomial control.", |
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✓✗ |
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bp::init<ControlParametrizationModelPolyTwoRK*>( |
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bp::args("self", "model"), |
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"Create control-parametrization data.\n\n" |
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":param model: second-order polynomial control model")) |
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.add_property("c", |
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✓✗ |
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bp::make_getter(&ControlParametrizationDataPolyTwoRK::c, |
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bp::return_internal_reference<>()), |
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✓✗ |
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"polynomial coefficients of the second-order control model") |
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✓✗ |
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.def(CopyableVisitor<ControlParametrizationDataPolyTwoRK>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |