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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 "python/crocoddyl/core/residual-base.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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#include "python/crocoddyl/utils/printable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeResidualAbstract() { |
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bp::register_ptr_to_python<boost::shared_ptr<ResidualModelAbstract> >(); |
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✓✗ |
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bp::class_<ResidualModelAbstract_wrap, boost::noncopyable>( |
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"ResidualModelAbstract", |
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"Abstract class for residual models.\n\n" |
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"A residual model defines a vector function r(x,u) in R^nr, where nr " |
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"describes its dimension in the\n" |
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"the Euclidean space. For each residual model, we need to provide ways " |
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"of computing the residual\n" |
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"vector and its Jacobians. These computations are mainly carried out " |
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"inside calc() and calcDiff(),\n" |
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"respectively.", |
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bp::init<boost::shared_ptr<StateAbstract>, std::size_t, std::size_t, |
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bp::optional<bool, bool, bool> >( |
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bp::args("self", "state", "nr", "nu", "q_dependent", "v_dependent", |
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"u_dependent"), |
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"Initialize the residual model.\n\n" |
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":param state: state description,\n" |
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":param nr: dimension of the residual vector\n" |
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":param nu: dimension of control vector (default state.nv)\n" |
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":param q_dependent: define if the residual function depends on q " |
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"(default true)\n" |
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":param v_dependent: define if the residual function depends on v " |
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"(default true)\n" |
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":param u_dependent: define if the residual function depends on u " |
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"(default true)")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t, |
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bp::optional<bool, bool, bool> >( |
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bp::args("self", "state", "nr", "q_dependent", "v_dependent", |
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"u_dependent"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param nr: dimension of the residual vector\n" |
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":param q_dependent: define if the residual function depends on q " |
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"(default true)\n" |
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":param v_dependent: define if the residual function depends on v " |
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"(default true)\n" |
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":param u_dependent: define if the residual function depends on u " |
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"(default true)")) |
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.def("calc", pure_virtual(&ResidualModelAbstract_wrap::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the residual vector.\n\n" |
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":param data: residual 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 (ResidualModelAbstract::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"), |
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"Compute the residual vector for nodes that depends only on the " |
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"state.\n\n" |
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"It updates the residual vector 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: residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&ResidualModelAbstract_wrap::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the residual function.\n\n" |
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":param data: residual 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 (ResidualModelAbstract::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ResidualModelAbstract::calcDiff, |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian of the residual functions with respect to the " |
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"state only.\n\n" |
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"It updates the Jacobian of the residual function based on the state " |
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"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: residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &ResidualModelAbstract_wrap::createData, |
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&ResidualModelAbstract_wrap::default_createData, bp::args("self"), |
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"Create the residual data.\n\n" |
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"Each residual model might has its own data that needs to be " |
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"allocated.") |
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.def("calcCostDiff", &ResidualModelAbstract_wrap::calcCostDiff, |
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&ResidualModelAbstract_wrap::default_calcCostDiff, |
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bp::args("self", "cdata", "rdata", "adata", "update_u"), |
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"Compute the derivative of the cost function.\n\n" |
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"This function assumes that the derivatives of the activation and " |
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"residual are\n" |
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"computed via calcDiff functions.\n" |
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":param cdata: cost data\n" |
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":param rdata: residual data\n" |
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":param adata: activation data\n" |
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":param update_u: update the derivative of the cost function w.r.t. " |
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"to the control if True.") |
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.def("calcCostDiff", |
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&ResidualModelAbstract_wrap::default_calcCostDiff_noupdate_u) |
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.add_property( |
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"state", |
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bp::make_function(&ResidualModelAbstract_wrap::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state") |
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.add_property("nr", |
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bp::make_function(&ResidualModelAbstract_wrap::get_nr), |
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"dimension of residual vector") |
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.add_property("nu", |
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bp::make_function(&ResidualModelAbstract_wrap::get_nu), |
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"dimension of control vector") |
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.add_property( |
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"q_dependent", |
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bp::make_function(&ResidualModelAbstract_wrap::get_q_dependent), |
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"flag that indicates if the residual function depends on q") |
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.add_property( |
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"v_dependent", |
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bp::make_function(&ResidualModelAbstract_wrap::get_v_dependent), |
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"flag that indicates if the residual function depends on v") |
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.add_property( |
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"u_dependent", |
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bp::make_function(&ResidualModelAbstract_wrap::get_u_dependent), |
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"flag that indicates if the residual function depends on u") |
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.def(CopyableVisitor<ResidualModelAbstract_wrap>()) |
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.def(PrintableVisitor<ResidualModelAbstract>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ResidualDataAbstract> >(); |
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bp::class_<ResidualDataAbstract>( |
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"ResidualDataAbstract", |
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"Abstract class for residual data.\n\n" |
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"In crocoddyl, a residual data contains all the required information for " |
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"processing an\n" |
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"user-defined residual models. The residual data typically is allocated " |
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"once and containts\n" |
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"the residual vector and its Jacobians.", |
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bp::init<ResidualModelAbstract*, DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create common data shared between residual models.\n\n" |
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":param model: residual 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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.add_property("shared", |
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bp::make_getter(&ResidualDataAbstract::shared, |
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bp::return_internal_reference<>()), |
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"shared data") |
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.add_property("r", |
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bp::make_getter(&ResidualDataAbstract::r, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ResidualDataAbstract::r), |
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"residual vector") |
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.add_property("Rx", |
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bp::make_getter(&ResidualDataAbstract::Rx, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ResidualDataAbstract::Rx), |
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"Jacobian of the residual") |
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.add_property("Ru", |
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bp::make_getter(&ResidualDataAbstract::Ru, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ResidualDataAbstract::Ru), |
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"Jacobian of the residual") |
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.add_property("Arr_Rx", |
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bp::make_getter(&ResidualDataAbstract::Arr_Rx, |
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bp::return_internal_reference<>()), |
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"Intermediate product of Arr (2nd deriv of Activation) " |
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"with Rx (deriv of residue)") |
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.add_property("Arr_Ru", |
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bp::make_getter(&ResidualDataAbstract::Arr_Ru, |
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bp::return_internal_reference<>()), |
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"Intermediate product of Arr (2nd deriv of Activation) " |
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"with Ru (deriv of residue)") |
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.def(CopyableVisitor<ResidualDataAbstract>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |