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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, University of |
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// Oxford, |
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// University of Trento, 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/integrator/euler.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/integ-action-base.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 exposeIntegratedActionEuler() { |
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bp::register_ptr_to_python<boost::shared_ptr<IntegratedActionModelEuler> >(); |
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✓✗ |
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bp::class_<IntegratedActionModelEuler, |
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bp::bases<IntegratedActionModelAbstract, ActionModelAbstract> >( |
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"IntegratedActionModelEuler", |
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"Sympletic Euler integrator for differential action models.\n\n" |
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"This class implements a sympletic Euler integrator (a.k.a " |
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"semi-implicit\n" |
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"integrator) give a differential action model, i.e.:\n" |
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" [q+, v+] = State.integrate([q, v], [v + a * dt, a * dt] * dt).", |
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bp::init<boost::shared_ptr<DifferentialActionModelAbstract>, |
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bp::optional<double, bool> >( |
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bp::args("self", "diffModel", "stepTime", "withCostResidual"), |
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"Initialize the sympletic Euler integrator.\n\n" |
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":param diffModel: differential action model\n" |
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":param stepTime: step time (default 1e-3)\n" |
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":param withCostResidual: includes the cost residuals and " |
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"derivatives (default True).")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<DifferentialActionModelAbstract>, |
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boost::shared_ptr<ControlParametrizationModelAbstract>, |
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bp::optional<double, bool> >( |
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bp::args("self", "diffModel", "control", "stepTime", |
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"withCostResidual"), |
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"Initialize the Euler integrator.\n\n" |
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":param diffModel: differential action model\n" |
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":param control: the control parametrization\n" |
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":param stepTime: step time (default 1e-3)\n" |
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":param withCostResidual: includes the cost residuals and " |
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✓✗ |
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"derivatives (default True).")) |
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.def<void (IntegratedActionModelEuler::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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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", &IntegratedActionModelEuler::calc, |
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bp::args("self", "data", "x", "u"), |
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"Compute the time-discrete evolution of a differential action " |
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"model.\n\n" |
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"It describes the time-discrete evolution of action model.\n" |
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":param data: action 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 (IntegratedActionModelEuler::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActionModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (IntegratedActionModelEuler::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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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", &IntegratedActionModelEuler::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Computes the derivatives of the integrated action model wrt state " |
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"and control. \n\n" |
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"This function builds a quadratic approximation of the\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action 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 (IntegratedActionModelEuler::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &IntegratedActionModelEuler::createData, |
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bp::args("self"), "Create the Euler integrator data.") |
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.def(CopyableVisitor<IntegratedActionModelEuler>()); |
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bp::register_ptr_to_python<boost::shared_ptr<IntegratedActionDataEuler> >(); |
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bp::class_<IntegratedActionDataEuler, |
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bp::bases<IntegratedActionDataAbstract> >( |
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"IntegratedActionDataEuler", "Sympletic Euler integrator data.", |
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✓✗ |
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bp::init<IntegratedActionModelEuler*>( |
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bp::args("self", "model"), |
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"Create sympletic Euler integrator data.\n\n" |
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":param model: sympletic Euler integrator model")) |
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.add_property( |
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"differential", |
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bp::make_getter(&IntegratedActionDataEuler::differential, |
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bp::return_value_policy<bp::return_by_value>()), |
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"differential action data") |
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.add_property( |
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"control", |
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bp::make_getter(&IntegratedActionDataEuler::control, |
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bp::return_value_policy<bp::return_by_value>()), |
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"control parametrization data") |
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.add_property("dx", |
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bp::make_getter(&IntegratedActionDataEuler::dx, |
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bp::return_internal_reference<>()), |
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"state rate.") |
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.add_property("Lwu", |
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bp::make_getter(&IntegratedActionDataEuler::Lwu, |
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bp::return_internal_reference<>()), |
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"Hessian of the cost wrt the differential control (w) and " |
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"the control parameters (u).") |
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.def(CopyableVisitor<IntegratedActionDataEuler>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |