1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2022-2023, Heriot-Watt University, University of Edinburgh |
5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
6 |
|
|
// All rights reserved. |
7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
8 |
|
|
|
9 |
|
|
#include "crocoddyl/core/residuals/joint-effort.hpp" |
10 |
|
|
|
11 |
|
|
#include "python/crocoddyl/core/core.hpp" |
12 |
|
|
#include "python/crocoddyl/utils/copyable.hpp" |
13 |
|
|
|
14 |
|
|
namespace crocoddyl { |
15 |
|
|
namespace python { |
16 |
|
|
|
17 |
|
10 |
void exposeResidualJointEffort() { |
18 |
|
10 |
bp::register_ptr_to_python<boost::shared_ptr<ResidualModelJointEffort> >(); |
19 |
|
|
|
20 |
✓✗ |
10 |
bp::class_<ResidualModelJointEffort, bp::bases<ResidualModelAbstract> >( |
21 |
|
|
"ResidualModelJointEffort", |
22 |
|
|
"This residual function defines a residual vector as r = u - uref, with " |
23 |
|
|
"u and uref as the current and\n" |
24 |
|
|
"reference joint efforts, respectively.", |
25 |
✓✗ |
10 |
bp::init<boost::shared_ptr<StateAbstract>, |
26 |
|
|
boost::shared_ptr<ActuationModelAbstract>, Eigen::VectorXd, |
27 |
|
|
std::size_t, bp::optional<bool> >( |
28 |
|
20 |
bp::args("self", "state", "actuation", "uref", "nu", "fwddyn"), |
29 |
|
|
"Initialize the joint-effort residual model.\n\n" |
30 |
|
|
":param state: state description\n" |
31 |
|
|
":param actuation: actuation model\n" |
32 |
|
|
":param uref: reference joint effort\n" |
33 |
|
|
":param nu: dimension of the control vector\n" |
34 |
|
|
":param fwddyn: indicate if we have a forward dynamics problem " |
35 |
|
|
"(True) or inverse " |
36 |
|
|
"dynamics problem (False) (default False)")) |
37 |
✓✗ |
10 |
.def(bp::init<boost::shared_ptr<StateAbstract>, |
38 |
|
|
boost::shared_ptr<ActuationModelAbstract>, Eigen::VectorXd>( |
39 |
✓✗ |
20 |
bp::args("self", "state", "actuation", "uref"), |
40 |
|
|
"Initialize the joint-effort residual model.\n\n" |
41 |
|
|
"The default nu value is obtained from state.nv.\n" |
42 |
|
|
":param state: state description\n" |
43 |
|
|
":param actuation: actuation model\n" |
44 |
✓✗ |
10 |
":param uref: reference joint effort")) |
45 |
✓✗ |
10 |
.def(bp::init<boost::shared_ptr<StateAbstract>, |
46 |
|
|
boost::shared_ptr<ActuationModelAbstract>, std::size_t>( |
47 |
✓✗ |
20 |
bp::args("self", "state", "actuation", "nu"), |
48 |
|
|
"Initialize the joint-effort residual model.\n\n" |
49 |
|
|
"The default reference joint-effort is obtained from " |
50 |
|
|
"np.zero(actuation.nu).\n" |
51 |
|
|
":param state: state description\n" |
52 |
|
|
":param actuation: actuation model\n" |
53 |
✓✗ |
10 |
":param nu: dimension of the control vector")) |
54 |
✓✗ |
10 |
.def(bp::init<boost::shared_ptr<StateAbstract>, |
55 |
|
|
boost::shared_ptr<ActuationModelAbstract> >( |
56 |
✓✗ |
20 |
bp::args("self", "state", "actuation"), |
57 |
|
|
"Initialize the joint-effort residual model.\n\n" |
58 |
|
|
"The default reference joint-effort is obtained from " |
59 |
|
|
"np.zero(actuation.nu).\n" |
60 |
|
|
"The default nu value is obtained from state.nv.\n" |
61 |
|
|
":param state: state description\n" |
62 |
✓✗ |
10 |
":param actuation: actuation model")) |
63 |
|
|
.def<void (ResidualModelJointEffort::*)( |
64 |
|
|
const boost::shared_ptr<ResidualDataAbstract>&, |
65 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&, |
66 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&)>( |
67 |
|
|
"calc", &ResidualModelJointEffort::calc, |
68 |
✓✗ |
20 |
bp::args("self", "data", "x", "u"), |
69 |
|
|
"Compute the joint-effort residual.\n\n" |
70 |
|
|
":param data: residual data\n" |
71 |
|
|
":param x: state point (dim. state.nx)\n" |
72 |
|
20 |
":param u: control input (dim. nu)") |
73 |
|
|
.def<void (ResidualModelJointEffort::*)( |
74 |
|
|
const boost::shared_ptr<ResidualDataAbstract>&, |
75 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&)>( |
76 |
✓✗✓✗
|
20 |
"calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x")) |
77 |
|
|
.def<void (ResidualModelJointEffort::*)( |
78 |
|
|
const boost::shared_ptr<ResidualDataAbstract>&, |
79 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&, |
80 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&)>( |
81 |
|
|
"calcDiff", &ResidualModelJointEffort::calcDiff, |
82 |
✓✗ |
20 |
bp::args("self", "data", "x", "u"), |
83 |
|
|
"Compute the Jacobians of the joint-effort residual.\n\n" |
84 |
|
|
"It assumes that calc has been run first.\n" |
85 |
|
|
":param data: residual data\n" |
86 |
|
|
":param x: state point (dim. state.nx)\n" |
87 |
✓✗ |
10 |
":param u: control input (dim. nu)") |
88 |
|
|
.def<void (ResidualModelJointEffort::*)( |
89 |
|
|
const boost::shared_ptr<ResidualDataAbstract>&, |
90 |
|
|
const Eigen::Ref<const Eigen::VectorXd>&)>( |
91 |
|
|
"calcDiff", &ResidualModelAbstract::calcDiff, |
92 |
✓✗✓✗
|
20 |
bp::args("self", "data", "x")) |
93 |
|
|
.def("createData", &ResidualModelJointEffort::createData, |
94 |
|
|
bp::with_custodian_and_ward_postcall<0, 2>(), |
95 |
✓✗ |
20 |
bp::args("self", "data"), |
96 |
|
|
"Create the joint-effort residual data.\n\n" |
97 |
|
|
"Each residual model has its own data that needs to be allocated. " |
98 |
|
|
"This function\n" |
99 |
|
|
"returns the allocated data for the joint-effort residual.\n" |
100 |
|
|
":param data: shared data\n" |
101 |
✓✗✓✗
|
20 |
":return residual data.") |
102 |
|
|
.add_property("reference", |
103 |
|
|
bp::make_function(&ResidualModelJointEffort::get_reference, |
104 |
|
10 |
bp::return_internal_reference<>()), |
105 |
|
|
&ResidualModelJointEffort::set_reference, |
106 |
✓✗✓✗
|
10 |
"reference joint effort") |
107 |
✓✗ |
10 |
.def(CopyableVisitor<ResidualModelJointEffort>()); |
108 |
|
10 |
} |
109 |
|
|
|
110 |
|
|
} // namespace python |
111 |
|
|
} // namespace crocoddyl |