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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 "python/crocoddyl/core/state-base.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 exposeStateAbstract() { |
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bp::register_ptr_to_python<boost::shared_ptr<StateAbstract> >(); |
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bp::enum_<Jcomponent>("Jcomponent") |
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.value("both", both) |
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.value("first", first) |
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.export_values() |
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.value("second", second); |
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bp::enum_<AssignmentOp>("AssignmentOp") |
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.value("setto", setto) |
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.value("addto", addto) |
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.value("rmfrom", rmfrom) |
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.export_values(); |
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bp::class_<StateAbstract_wrap, boost::noncopyable>( |
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"StateAbstract", |
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"Abstract class for the state representation.\n\n" |
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"A state is represented by its operators: difference, integrates and " |
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"their derivatives.\n" |
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"The difference operator returns the value of x1 [-] x0 operation. " |
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"Instead the integrate\n" |
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"operator returns the value of x [+] dx. These operators are used to " |
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"compared two points\n" |
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"on the state manifold M or to advance the state given a tangential " |
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"velocity (Tx M).\n" |
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"Therefore the points x, x0 and x1 belong to the manifold M; and dx or " |
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"x1 [-] x0 lie\n" |
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"on its tangential space.", |
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bp::init<int, int>(bp::args("self", "nx", "ndx"), |
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"Initialize the state dimensions.\n\n" |
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":param nx: dimension of state configuration tuple\n" |
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":param ndx: dimension of state tangent vector")) |
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.def("zero", pure_virtual(&StateAbstract_wrap::zero), bp::args("self"), |
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"Generate a zero reference state.\n\n" |
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":return zero reference state") |
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.def("rand", pure_virtual(&StateAbstract_wrap::rand), bp::args("self"), |
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"Generate a random reference state.\n\n" |
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":return random reference state") |
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.def("diff", pure_virtual(&StateAbstract_wrap::diff_wrap), |
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bp::args("self", "x0", "x1"), |
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"Compute the state manifold differentiation.\n\n" |
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"It returns the value of x1 [-] x0 operation. Note tha x0 and x1 " |
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"are points in the state\n" |
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"manifold (in M). Instead the operator result lies in the " |
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"tangent-space of M.\n" |
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":param x0: previous state point (dim state.nx).\n" |
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":param x1: current state point (dim state.nx).\n" |
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":return x1 [-] x0 value (dim state.ndx).") |
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.def("integrate", pure_virtual(&StateAbstract_wrap::integrate_wrap), |
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bp::args("self", "x", "dx"), |
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"Compute the state manifold integration.\n\n" |
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"It returns the value of x [+] dx operation. x and dx are points in " |
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"the state.diff(x0,x1) (in M)\n" |
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"and its tangent, respectively. Note that the operator result lies " |
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"on M too.\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":return x [+] dx value (dim state.nx).") |
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.def("Jdiff", pure_virtual(&StateAbstract_wrap::Jdiff_wrap), |
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bp::args("self", "x0", "x1", "firstsecond"), |
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"Compute the partial derivatives of difference operator.\n\n" |
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"The difference operator (x1 [-] x0) is defined by diff(x0, x1). " |
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"Instead Jdiff\n" |
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"computes its partial derivatives, i.e. \\partial{diff(x0, x1)}{x0} " |
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"and\n" |
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"\\partial{diff(x0, x1)}{x1}. By default, this function returns the " |
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"derivatives of the\n" |
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"first and second argument (i.e. firstsecond='both'). However we " |
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"can also specific the\n" |
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"partial derivative for the first and second variables by setting " |
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"firstsecond='first'\n" |
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"or firstsecond='second', respectively.\n" |
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":param x0: previous state point (dim state.nx).\n" |
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":param x1: current state point (dim state.nx).\n" |
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":param firstsecond: derivative w.r.t x0 or x1 or both\n" |
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":return the partial derivative(s) of the diff(x0, x1) function") |
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.def("Jintegrate", pure_virtual(&StateAbstract_wrap::Jintegrate_wrap), |
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bp::args("self", "x", "dx", "firstsecond"), |
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"Compute the partial derivatives of integrate operator.\n\n" |
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"The integrate operator (x [+] dx) is defined by integrate(x, dx). " |
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"Instead Jintegrate\n" |
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"computes its partial derivatives, i.e. \\partial{integrate(x, " |
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"dx)}{x} and\n" |
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"\\partial{integrate(x, dx)}{dx}. By default, this function returns " |
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"the derivatives of\n" |
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"the first and second argument (i.e. firstsecond='both').\n" |
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"partial derivative by setting firstsecond='first' or " |
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"firstsecond='second'.\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":param firstsecond: derivative w.r.t x or dx or both\n" |
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":return the partial derivative(s) of the integrate(x, dx) function") |
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.def("JintegrateTransport", |
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pure_virtual(&StateAbstract_wrap::JintegrateTransport_wrap), |
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bp::args("self", "x", "dx", "Jin", "firstsecond"), |
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"Parallel transport from integrate(x, dx) to x.\n\n" |
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"This function performs the parallel transportation of an input " |
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"matrix whose columns\n" |
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"are expressed in the tangent space at integrate(x, dx) to the " |
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"tangent space at x point\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":param Jin: input matrix (number of rows = state.nv).\n" |
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":param firstsecond: derivative w.r.t x or dx") |
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.add_property("nx", bp::make_function(&StateAbstract_wrap::get_nx), |
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bp::make_setter(&StateAbstract_wrap::nx_, |
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bp::return_internal_reference<>()), |
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"dimension of state tuple") |
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.add_property("ndx", bp::make_function(&StateAbstract_wrap::get_ndx), |
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bp::make_setter(&StateAbstract_wrap::ndx_, |
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bp::return_internal_reference<>()), |
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"dimension of the tangent space of the state manifold") |
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.add_property("nq", bp::make_function(&StateAbstract_wrap::get_nq), |
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bp::make_setter(&StateAbstract_wrap::nq_, |
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bp::return_internal_reference<>()), |
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"dimension of the configuration tuple") |
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.add_property("nv", bp::make_function(&StateAbstract_wrap::get_nv), |
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bp::make_setter(&StateAbstract_wrap::nv_, |
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bp::return_internal_reference<>()), |
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"dimension of tangent space of the configuration manifold") |
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.add_property("has_limits", |
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bp::make_function(&StateAbstract_wrap::get_has_limits), |
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"indicates whether problem has finite state limits") |
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.add_property("lb", |
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bp::make_getter(&StateAbstract_wrap::lb_, |
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bp::return_internal_reference<>()), |
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&StateAbstract_wrap::set_lb, "lower state limits") |
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.add_property("ub", |
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bp::make_getter(&StateAbstract_wrap::ub_, |
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bp::return_internal_reference<>()), |
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&StateAbstract_wrap::set_ub, "upper state limits"); |
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} |
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} // namespace python |
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} // namespace crocoddyl |