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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/diff-action.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/diff-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 exposeDifferentialActionNumDiff() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<DifferentialActionModelNumDiff> >(); |
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✓✗ |
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bp::class_<DifferentialActionModelNumDiff, |
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bp::bases<DifferentialActionModelAbstract> >( |
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"DifferentialActionModelNumDiff", |
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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<DifferentialActionModelAbstract>, |
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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 (DifferentialActionModelNumDiff::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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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", &DifferentialActionModelNumDiff::calc, |
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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 (DifferentialActionModelNumDiff::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &DifferentialActionModelAbstract::calc, |
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bp::args("self", "data", "x")) |
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.def<void (DifferentialActionModelNumDiff::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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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", &DifferentialActionModelNumDiff::calcDiff, |
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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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":param u: control input (dim. nu)") |
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.def<void (DifferentialActionModelNumDiff::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &DifferentialActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &DifferentialActionModelNumDiff::createData, |
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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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bp::make_function(&DifferentialActionModelNumDiff::get_model, |
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bp::return_value_policy<bp::return_by_value>()), |
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"action model") |
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.add_property( |
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"disturbance", |
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bp::make_function(&DifferentialActionModelNumDiff::get_disturbance), |
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&DifferentialActionModelNumDiff::set_disturbance, |
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"disturbance constant used in the numerical differentiation") |
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.add_property("withGaussApprox", |
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bp::make_function( |
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&DifferentialActionModelNumDiff::get_with_gauss_approx), |
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"Gauss approximation for computing the Hessians") |
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.def(CopyableVisitor<DifferentialActionModelNumDiff>()); |
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bp::register_ptr_to_python< |
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boost::shared_ptr<DifferentialActionDataNumDiff> >(); |
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✓✗ |
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bp::class_<DifferentialActionDataNumDiff, |
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bp::bases<DifferentialActionDataAbstract> >( |
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"DifferentialActionDataNumDiff", |
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"Numerical differentiation diff-action data.", |
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✓✗ |
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bp::init<DifferentialActionModelNumDiff*>( |
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bp::args("self", "model"), |
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"Create numerical differentiation diff-action data.\n\n" |
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":param model: numdiff diff-action model")) |
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.add_property("Rx", |
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bp::make_getter(&DifferentialActionDataNumDiff::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(&DifferentialActionDataNumDiff::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(&DifferentialActionDataNumDiff::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(&DifferentialActionDataNumDiff::du, |
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bp::return_internal_reference<>()), |
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"control disturbance.") |
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.add_property("xp", |
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bp::make_getter(&DifferentialActionDataNumDiff::xp, |
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bp::return_internal_reference<>()), |
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"rate state after disturbance.") |
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.add_property( |
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"data_0", |
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bp::make_getter(&DifferentialActionDataNumDiff::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(&DifferentialActionDataNumDiff::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(&DifferentialActionDataNumDiff::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<DifferentialActionDataNumDiff>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |