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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2024, 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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_RESIDUAL_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_RESIDUAL_BASE_HPP_ |
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#include "crocoddyl/core/residual-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 ResidualModelAbstract_wrap : public ResidualModelAbstract, |
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public bp::wrapper<ResidualModelAbstract> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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using ResidualModelAbstract::nu_; |
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using ResidualModelAbstract::unone_; |
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ResidualModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
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const std::size_t nr, const std::size_t nu, |
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const bool q_dependent = true, |
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const bool v_dependent = true, |
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const bool u_dependent = true) |
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: ResidualModelAbstract(state, nr, nu, q_dependent, v_dependent, |
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u_dependent), |
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bp::wrapper<ResidualModelAbstract>() { |
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unone_ = NAN * MathBase::VectorXs::Ones(nu); |
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} |
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ResidualModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
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const std::size_t nr, |
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const bool q_dependent = true, |
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const bool v_dependent = true, |
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const bool u_dependent = true) |
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: ResidualModelAbstract(state, nr, q_dependent, v_dependent, u_dependent), |
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bp::wrapper<ResidualModelAbstract>() { |
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unone_ = NAN * MathBase::VectorXs::Ones(nu_); |
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} |
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void calc(const boost::shared_ptr<ResidualDataAbstract>& 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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if (std::isnan(u.lpNorm<Eigen::Infinity>())) { |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(Eigen::VectorXd)x); |
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} else { |
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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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} |
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void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& 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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if (std::isnan(u.lpNorm<Eigen::Infinity>())) { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(Eigen::VectorXd)x); |
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} else { |
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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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} |
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boost::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract* const data) { |
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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<ResidualDataAbstract> >( |
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createData.ptr(), boost::ref(data)); |
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} |
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return ResidualModelAbstract::createData(data); |
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} |
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boost::shared_ptr<ResidualDataAbstract> default_createData( |
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DataCollectorAbstract* const data) { |
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return this->ResidualModelAbstract::createData(data); |
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} |
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void calcCostDiff(const boost::shared_ptr<CostDataAbstract>& cdata, |
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const boost::shared_ptr<ResidualDataAbstract>& rdata, |
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const boost::shared_ptr<ActivationDataAbstract>& adata, |
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const bool update_u = true) { |
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if (boost::python::override calcCostDiff = |
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this->get_override("calcCostDiff")) { |
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return bp::call<void>(calcCostDiff.ptr(), boost::ref(cdata), |
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boost::ref(rdata), boost::ref(adata), update_u); |
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} |
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return ResidualModelAbstract::calcCostDiff(cdata, rdata, adata, update_u); |
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} |
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void default_calcCostDiff( |
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const boost::shared_ptr<CostDataAbstract>& cdata, |
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const boost::shared_ptr<ResidualDataAbstract>& rdata, |
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const boost::shared_ptr<ActivationDataAbstract>& adata, |
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const bool update_u) { |
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return this->ResidualModelAbstract::calcCostDiff(cdata, rdata, adata, |
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update_u); |
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} |
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void default_calcCostDiff_noupdate_u( |
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const boost::shared_ptr<CostDataAbstract>& cdata, |
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const boost::shared_ptr<ResidualDataAbstract>& rdata, |
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const boost::shared_ptr<ActivationDataAbstract>& adata) { |
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return this->ResidualModelAbstract::calcCostDiff(cdata, rdata, adata); |
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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_RESIDUAL_BASE_HPP_ |