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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 "crocoddyl/core/numdiff/action.hpp" |
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#include "python/crocoddyl/core/action-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 exposeActionNumDiff() { |
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bp::register_ptr_to_python<boost::shared_ptr<ActionModelNumDiff> >(); |
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✓✗ |
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bp::class_<ActionModelNumDiff, bp::bases<ActionModelAbstract> >( |
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"ActionModelNumDiff", |
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"Abstract class for computing calcDiff by using numerical " |
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"differentiation.\n\n", |
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✓✗ |
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bp::init<boost::shared_ptr<ActionModelAbstract>, bp::optional<bool> >( |
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bp::args("self", "model", "gaussApprox"), |
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"Initialize the action model NumDiff.\n\n" |
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":param model: action model where we compute the derivatives through " |
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"NumDiff\n" |
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":param gaussApprox: compute the Hessian using Gauss approximation " |
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"(default False)")) |
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.def<void (ActionModelNumDiff::*)( |
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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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✓✗ |
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"calc", &ActionModelNumDiff::calc, bp::args("self", "data", "x", "u"), |
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"Compute the next state and cost value.\n\n" |
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"The system evolution is described in model.\n" |
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":param data: NumDiff 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 (ActionModelNumDiff::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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✓✗✓✗
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"calc", &ActionModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (ActionModelNumDiff::*)( |
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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", &ActionModelNumDiff::calcDiff, |
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✓✗ |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the dynamics and cost functions.\n\n" |
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"It computes the Jacobian and Hessian using numerical " |
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"differentiation.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: NumDiff action data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param u: control input (dim. nu)") |
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.def<void (ActionModelNumDiff::*)( |
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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", &ActionModelNumDiff::createData, bp::args("self"), |
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"Create the action data.\n\n" |
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"Each action model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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":return AM data.") |
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.add_property( |
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"model", |
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✓✗ |
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bp::make_function(&ActionModelNumDiff::get_model, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"action model") |
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.add_property( |
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"disturbance", |
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bp::make_function(&ActionModelNumDiff::get_disturbance), |
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&ActionModelNumDiff::set_disturbance, |
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"disturbance constant used in the numerical differentiation") |
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.add_property( |
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"withGaussApprox", |
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bp::make_function(&ActionModelNumDiff::get_with_gauss_approx, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"Gauss approximation for computing the Hessians") |
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✓✗ |
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.def(CopyableVisitor<ActionModelNumDiff>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ActionDataNumDiff> >(); |
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✓✗ |
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bp::class_<ActionDataNumDiff, bp::bases<ActionDataAbstract> >( |
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"ActionDataNumDiff", "Numerical differentiation action data.", |
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✓✗ |
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bp::init<ActionModelNumDiff*>( |
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bp::args("self", "model"), |
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"Create numerical differentiation action data.\n\n" |
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":param model: numdiff action model")) |
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.add_property("Rx", |
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bp::make_getter(&ActionDataNumDiff::Rx, |
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bp::return_internal_reference<>()), |
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"Jacobian of the cost residual.") |
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.add_property("Ru", |
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bp::make_getter(&ActionDataNumDiff::Ru, |
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bp::return_internal_reference<>()), |
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"Jacobian of the cost residual.") |
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.add_property("dx", |
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bp::make_getter(&ActionDataNumDiff::dx, |
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bp::return_internal_reference<>()), |
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"state disturbance.") |
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.add_property("du", |
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bp::make_getter(&ActionDataNumDiff::du, |
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bp::return_internal_reference<>()), |
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"control disturbance.") |
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.add_property( |
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"data_0", |
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bp::make_getter(&ActionDataNumDiff::data_0, |
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bp::return_value_policy<bp::return_by_value>()), |
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"data that contains the final results") |
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.add_property( |
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"data_x", |
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bp::make_getter(&ActionDataNumDiff::data_x, |
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bp::return_value_policy<bp::return_by_value>()), |
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"temporary data associated with the state variation") |
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.add_property( |
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"data_u", |
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bp::make_getter(&ActionDataNumDiff::data_u, |
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bp::return_value_policy<bp::return_by_value>()), |
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"temporary data associated with the control variation") |
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.def(CopyableVisitor<ActionDataNumDiff>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |