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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_INTEGRATED_ACTION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ |
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#include "crocoddyl/core/integ-action-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 IntegratedActionModelAbstract_wrap |
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: public IntegratedActionModelAbstract, |
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public bp::wrapper<IntegratedActionModelAbstract> { |
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public: |
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IntegratedActionModelAbstract_wrap( |
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boost::shared_ptr<DifferentialActionModelAbstract> model, |
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const double timestep = 1e-3, const bool with_cost_residual = true) |
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: IntegratedActionModelAbstract(model, timestep, with_cost_residual), |
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bp::wrapper<IntegratedActionModelAbstract>() {} |
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IntegratedActionModelAbstract_wrap( |
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boost::shared_ptr<DifferentialActionModelAbstract> model, |
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boost::shared_ptr<ControlParametrizationModelAbstract> control, |
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const double timestep = 1e-3, const bool with_cost_residual = true) |
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: IntegratedActionModelAbstract(model, control, timestep, |
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with_cost_residual), |
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bp::wrapper<IntegratedActionModelAbstract>() {} |
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void calc(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x, |
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const Eigen::Ref<const Eigen::VectorXd>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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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, |
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(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
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} |
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void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x, |
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const Eigen::Ref<const Eigen::VectorXd>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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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, |
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(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
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} |
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boost::shared_ptr<ActionDataAbstract> 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<IntegratedActionDataAbstract> >( |
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createData.ptr()); |
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} |
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return IntegratedActionModelAbstract::createData(); |
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} |
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boost::shared_ptr<ActionDataAbstract> default_createData() { |
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return this->IntegratedActionModelAbstract::createData(); |
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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_INTEGRATED_ACTION_BASE_HPP_ |