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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-zero.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 exposeControlParametrizationPolyZero() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ControlParametrizationModelPolyZero> >(); |
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✓✗ |
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bp::class_<ControlParametrizationModelPolyZero, |
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bp::bases<ControlParametrizationModelAbstract> >( |
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"ControlParametrizationModelPolyZero", |
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"Constant control.\n\n" |
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"This control is a constant." |
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"The parameter vector corresponds to the constant value of the " |
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"differential control w, that is w=p.", |
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✓✗ |
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bp::init<std::size_t>( |
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bp::args("self", "nw"), |
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"Initialize the control dimensions.\n\n" |
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":param nw: dimension of differential control space")) |
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.def<void (ControlParametrizationModelPolyZero::*)( |
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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", &ControlParametrizationModelPolyZero::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: 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<void (ControlParametrizationModelPolyZero::*)( |
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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", &ControlParametrizationModelPolyZero::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: 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", &ControlParametrizationModelPolyZero::createData, |
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✓✗✓✗
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bp::args("self"), "Create the poly-zero data.") |
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.def<void (ControlParametrizationModelPolyZero::*)( |
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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", &ControlParametrizationModelPolyZero::params, |
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✓✗ |
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bp::args("self", "data", "t", "u"), |
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"Compute the control parameters.\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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":param w: control value (dim control.nw)") |
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.def("convertBounds", &ControlParametrizationModelPolyZero::convertBounds, |
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✓✗ |
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bp::args("self", "u_lb", "u_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 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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&ControlParametrizationModelPolyZero::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: 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 value " |
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✓✗ |
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"function (dim na x control.nu)") |
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.def("multiplyJacobianTransposeBy", |
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&ControlParametrizationModelPolyZero::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: 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 value " |
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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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✓✗ |
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.def(CopyableVisitor<ControlParametrizationModelPolyZero>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |