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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2023, 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/residuals/joint-acceleration.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 exposeResidualJointAcceleration() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ResidualModelJointAcceleration>>(); |
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✓✗ |
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bp::class_<ResidualModelJointAcceleration, bp::bases<ResidualModelAbstract>>( |
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"ResidualModelJointAcceleration", |
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"This residual function defines a residual vector as r = a - aref, with " |
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"a and aref as the current and\n" |
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"reference joint acceleration (i.e., generalized acceleration), " |
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"respectively.", |
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✓✗ |
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bp::init<boost::shared_ptr<StateAbstract>, Eigen::VectorXd, std::size_t>( |
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bp::args("self", "state", "aref", "nu"), |
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"Initialize the joint-acceleration residual model.\n\n" |
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":param state: state description\n" |
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":param aref: reference joint acceleration\n" |
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":param nu: dimension of the control vector")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<StateAbstract>, Eigen::VectorXd>( |
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bp::args("self", "state", "aref"), |
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"Initialize the joint-acceleration residual model.\n\n" |
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"The default nu value is obtained from state.nv.\n" |
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":param state: state description\n" |
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✓✗ |
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":param aref: reference joint acceleration")) |
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.def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t>( |
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bp::args("self", "state", "nu"), |
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"Initialize the joint-acceleration residual model.\n\n" |
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"The default reference joint-acceleration is obtained from " |
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"np.zero(actuation.nu).\n" |
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":param state: state description\n" |
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✓✗ |
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":param nu: dimension of the control vector")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<StateAbstract>>( |
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bp::args("self", "state"), |
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"Initialize the joint-acceleration residual model.\n\n" |
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"The default reference joint-acceleration is obtained from " |
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"np.zero(actuation.nu).\n" |
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"The default nu value is obtained from state.nv.\n" |
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✓✗ |
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":param state: state description")) |
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.def<void (ResidualModelJointAcceleration::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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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", &ResidualModelJointAcceleration::calc, |
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bp::args("self", "data", "x", "u"), |
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"Compute the joint-acceleration residual.\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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":param u: control input (dim. nu)") |
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.def<void (ResidualModelJointAcceleration::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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✓✗✓✗
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"calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (ResidualModelJointAcceleration::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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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", &ResidualModelJointAcceleration::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the joint-acceleration residual.\n\n" |
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"It assumes that calc has been run first.\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 (ResidualModelJointAcceleration::*)( |
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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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.def("createData", &ResidualModelJointAcceleration::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the joint-acceleration residual data.\n\n" |
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"Each residual model has its own data that needs to be allocated. " |
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"This function\n" |
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"returns the allocated data for the joint-acceleration residual.\n" |
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":param data: shared data\n" |
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":return residual data.") |
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.add_property( |
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"reference", |
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bp::make_function(&ResidualModelJointAcceleration::get_reference, |
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bp::return_internal_reference<>()), |
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&ResidualModelJointAcceleration::set_reference, |
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"reference joint acceleration") |
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.def(CopyableVisitor<ResidualModelJointAcceleration>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |