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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, 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/costs/residual.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 exposeCostResidual() { |
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bp::register_ptr_to_python<boost::shared_ptr<CostModelResidual> >(); |
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✓✗ |
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bp::class_<CostModelResidual, bp::bases<CostModelAbstract> >( |
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"CostModelResidual", |
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"This cost function uses a residual vector with a Gauss-Newton " |
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"assumption to define a cost term.", |
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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 residual 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<ResidualModelAbstract> >( |
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bp::args("self", "state", "residual"), |
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"Initialize the residual 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<void (CostModelResidual::*)( |
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const boost::shared_ptr<CostDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &CostModelResidual::calc, bp::args("self", "data", "x", "u"), |
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"Compute the residual cost.\n\n" |
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":param data: cost residual 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 (CostModelResidual::*)( |
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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 residual cost based on state only.\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<void (CostModelResidual::*)( |
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const boost::shared_ptr<CostDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &CostModelResidual::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the residual cost.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: cost residual 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 (CostModelResidual::*)( |
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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 derivatives of the residual cost with respect to the " |
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"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 residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &CostModelResidual::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 residual 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(CopyableVisitor<CostModelResidual>()); |
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bp::register_ptr_to_python<boost::shared_ptr<CostDataResidual> >(); |
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bp::class_<CostDataResidual, bp::bases<CostDataAbstract> >( |
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"CostDataResidual", "Data for residual cost.\n\n", |
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bp::init<CostModelResidual*, DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create residual cost data.\n\n" |
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":param model: residual 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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.def(CopyableVisitor<CostDataResidual>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |