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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
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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 "python/crocoddyl/core/cost-base.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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#include "python/crocoddyl/utils/deprecate.hpp" |
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#include "python/crocoddyl/utils/printable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeCostAbstract() { |
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// TODO: Remove once the deprecated update call has been removed in a future |
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// release |
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#pragma GCC diagnostic push |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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bp::register_ptr_to_python<boost::shared_ptr<CostModelAbstract> >(); |
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✓✗ |
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bp::class_<CostModelAbstract_wrap, boost::noncopyable>( |
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"CostModelAbstract", |
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"Abstract multibody cost models.\n\n" |
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"In Crocoddyl, a cost model is defined by the scalar activation function " |
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"a(.) and by the residual\n" |
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" function r(.) as follows:\n" |
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" cost = a(r(x, u)),\n" |
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"where the residual function depends on the state point x, which lies in " |
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"the state manifold\n" |
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"described with a nq-tuple, its velocity xd that belongs to the tangent " |
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"space with nv dimension,\n" |
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"and the control input u. The dimension of the residual vector is " |
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"defined by nr, which belongs to\n" |
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"the Euclidean space. On the other hand, the activation function builds " |
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"a cost value based on the\n" |
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"definition of the residual vector. The residual vector has to be " |
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"specialized in a derived classes.", |
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bp::init<boost::shared_ptr<StateAbstract>, |
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boost::shared_ptr<ActivationModelAbstract>, |
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boost::shared_ptr<ResidualModelAbstract> >( |
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bp::args("self", "state", "activation", "residual"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param activation: activation model\n" |
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":param residual: residual model")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, |
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boost::shared_ptr<ActivationModelAbstract>, std::size_t>( |
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bp::args("self", "state", "activation", "nu"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param activation: activation model\n" |
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":param nu: dimension of control vector (default state.nv)")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, |
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boost::shared_ptr<ActivationModelAbstract> >( |
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bp::args("self", "state", "activation"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param activation: activation model")) |
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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 cost model.\n\n" |
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":param state: state description\n" |
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":param residual: residual model")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t, std::size_t>( |
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bp::args("self", "state", "nr", "nu"), |
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"Initialize the cost model.\n\n" |
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"We use ActivationModelQuad as a default activation model (i.e. " |
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"a=0.5*||r||^2).\n" |
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":param state: state description\n" |
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":param nr: dimension of residual vector\n" |
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":param nu: dimension of control vector (default state.nv)")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t>( |
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bp::args("self", "state", "nr"), |
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"Initialize the cost model.\n\n" |
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"We use ActivationModelQuad as a default activation model (i.e. " |
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"a=0.5*||r||^2), and the default nu value is " |
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"obtained from state.nv.\n" |
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":param state: state description\n" |
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":param nr: dimension of cost vector")) |
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.def("calc", pure_virtual(&CostModelAbstract_wrap::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the cost value and its residuals.\n\n" |
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":param data: cost 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 (CostModelAbstract::*)( |
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const boost::shared_ptr<CostDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &CostModelAbstract::calc, bp::args("self", "data", "x"), |
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"Compute the total cost value for nodes that depends only on the " |
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"state.\n\n" |
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"It updates the total cost based on the state only.\n" |
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"This function is used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&CostModelAbstract_wrap::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the cost function and its residuals.\n\n" |
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"It computes the partial derivatives of the cost function.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: cost 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 (CostModelAbstract::*)( |
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const boost::shared_ptr<CostDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &CostModelAbstract::calcDiff, |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian and Hessian of the cost functions with respect " |
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"to the state only.\n\n" |
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"It updates the Jacobian and Hessian of the cost function based on " |
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"the state only.\n" |
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"This function is used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &CostModelAbstract_wrap::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 cost data.\n\n" |
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"Each cost model has its own data that needs to be allocated. This " |
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"function\n" |
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"returns the allocated data for a predefined cost.\n" |
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":param data: shared data\n" |
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":return cost data.") |
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.def("createData", &CostModelAbstract_wrap::default_createData, |
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bp::with_custodian_and_ward_postcall<0, 2>()) |
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.add_property( |
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"state", |
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bp::make_function(&CostModelAbstract_wrap::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state description") |
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.add_property( |
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"activation", |
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bp::make_function(&CostModelAbstract_wrap::get_activation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"activation model") |
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.add_property( |
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"residual", |
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bp::make_function(&CostModelAbstract_wrap::get_residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual model") |
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.add_property("nu", bp::make_function(&CostModelAbstract_wrap::get_nu), |
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"dimension of control vector") |
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.def(PrintableVisitor<CostModelAbstract>()); |
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bp::register_ptr_to_python<boost::shared_ptr<CostDataAbstract> >(); |
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bp::class_<CostDataAbstract>( |
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"CostDataAbstract", "Abstract class for cost data.\n\n", |
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bp::init<CostModelAbstract*, DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create common data shared between cost models.\n\n" |
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":param model: cost 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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.add_property("shared", |
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bp::make_getter(&CostDataAbstract::shared, |
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bp::return_internal_reference<>()), |
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"shared data") |
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.add_property( |
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"activation", |
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bp::make_getter(&CostDataAbstract::activation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"activation data") |
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.add_property( |
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"residual", |
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bp::make_getter(&CostDataAbstract::residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual data") |
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.add_property( |
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"cost", |
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bp::make_getter(&CostDataAbstract::cost, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&CostDataAbstract::cost), "cost value") |
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.add_property("Lx", |
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bp::make_getter(&CostDataAbstract::Lx, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&CostDataAbstract::Lx), |
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"Jacobian of the cost") |
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.add_property("Lu", |
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bp::make_getter(&CostDataAbstract::Lu, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&CostDataAbstract::Lu), |
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"Jacobian of the cost") |
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.add_property("Lxx", |
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bp::make_getter(&CostDataAbstract::Lxx, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&CostDataAbstract::Lxx), |
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"Hessian of the cost") |
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.add_property("Lxu", |
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bp::make_getter(&CostDataAbstract::Lxu, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&CostDataAbstract::Lxu), |
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"Hessian of the cost") |
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.add_property("Luu", |
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bp::make_getter(&CostDataAbstract::Luu, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&CostDataAbstract::Luu), |
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"Hessian of the cost") |
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.add_property( |
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"r", |
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bp::make_function(&CostDataAbstract::get_r, |
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deprecated<bp::return_internal_reference<> >( |
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"Deprecated. Use residual.r.")), |
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bp::make_function(&CostDataAbstract::set_r, |
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deprecated<>("Deprecated. Use residual.r.")), |
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"cost residual") |
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.add_property( |
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"Rx", |
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bp::make_function(&CostDataAbstract::get_Rx, |
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deprecated<bp::return_internal_reference<> >( |
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"Deprecated. Use residual.Rx.")), |
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bp::make_function(&CostDataAbstract::set_Rx, |
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deprecated<>("Deprecated. Use residual.Rx.")), |
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"Jacobian of the cost residual") |
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.add_property( |
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"Ru", |
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bp::make_function(&CostDataAbstract::get_Ru, |
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deprecated<bp::return_internal_reference<> >( |
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"Deprecated. Use residual.Ru.")), |
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bp::make_function(&CostDataAbstract::set_Ru, |
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deprecated<>("Deprecated. Use residual.Ru.")), |
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"Jacobian of the cost residual") |
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.def(CopyableVisitor<CostDataAbstract>()); |
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#pragma GCC diagnostic pop |
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} |
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} // namespace python |
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} // namespace crocoddyl |