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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 "crocoddyl/multibody/actions/free-invdyn.hpp" |
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#include "python/crocoddyl/core/diff-action-base.hpp" |
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#include "python/crocoddyl/multibody/multibody.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 exposeDifferentialActionFreeInvDynamics() { |
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bp::scope().attr("yes") = 1; |
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bp::scope().attr("no") = 0; |
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{ |
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bp::register_ptr_to_python< |
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boost::shared_ptr<DifferentialActionModelFreeInvDynamics>>(); |
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bp::scope model_outer = |
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bp::class_<DifferentialActionModelFreeInvDynamics, |
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bp::bases<DifferentialActionModelAbstract>>( |
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"DifferentialActionModelFreeInvDynamics", |
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"Differential action model for free inverse dynamics in multibody " |
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"systems.\n\n" |
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"This class implements the dynamics using Recursive Newton Euler " |
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"Algorithm (RNEA) as an equality " |
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"constraint.\n" |
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"The stack of cost and constraint functions are implemented in\n" |
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"ConstraintModelManager() and CostModelSum(), respectively.", |
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bp::init<boost::shared_ptr<StateMultibody>, |
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boost::shared_ptr<ActuationModelAbstract>, |
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boost::shared_ptr<CostModelSum>, |
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bp::optional<boost::shared_ptr<ConstraintModelManager>>>( |
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bp::args("self", "state", "actuation", "costs", "constraints"), |
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"Initialize the free inverse-dynamics action model.\n\n" |
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"It describes the kinematic evolution of the multibody system " |
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"and computes the\n" |
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"needed torques using inverse dynamics.\n" |
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":param state: multibody state\n" |
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":param actuation: abstract actuation model\n" |
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":param costs: stack of cost functions\n" |
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":param constraints: stack of constraint functions")) |
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.def<void (DifferentialActionModelFreeInvDynamics::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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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", &DifferentialActionModelFreeInvDynamics::calc, |
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bp::args("self", "data", "x", "u"), |
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"Compute the next state and cost value.\n\n" |
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":param data: free inverse-dynamics 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 (DifferentialActionModelFreeInvDynamics::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &DifferentialActionModelAbstract::calc, |
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bp::args("self", "data", "x")) |
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.def<void (DifferentialActionModelFreeInvDynamics::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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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", &DifferentialActionModelFreeInvDynamics::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the differential multibody system " |
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"(free of contact) and\n" |
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"its cost functions.\n\n" |
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"It computes the partial derivatives of the differential " |
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"multibody system and the\n" |
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"cost function. It assumes that calc has been run first.\n" |
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"This function builds a quadratic approximation of the\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: free inverse-dynamics 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 (DifferentialActionModelFreeInvDynamics::*)( |
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const boost::shared_ptr<DifferentialActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &DifferentialActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", |
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&DifferentialActionModelFreeInvDynamics::createData, |
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bp::args("self"), |
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"Create the free inverse-dynamics differential action data.") |
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.add_property( |
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"actuation", |
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bp::make_function( |
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&DifferentialActionModelFreeInvDynamics::get_actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"actuation model") |
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.add_property( |
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"costs", |
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bp::make_function( |
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&DifferentialActionModelFreeInvDynamics::get_costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost model") |
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.add_property( |
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"constraints", |
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bp::make_function( |
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&DifferentialActionModelFreeInvDynamics::get_constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint model manager") |
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.def(CopyableVisitor<DifferentialActionModelFreeInvDynamics>()); |
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bp::register_ptr_to_python<boost::shared_ptr< |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation>>(); |
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bp::class_<DifferentialActionModelFreeInvDynamics::ResidualModelActuation, |
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bp::bases<ResidualModelAbstract>>( |
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"ResidualModelActuation", |
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"This residual function enforces the torques of under-actuated joints " |
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"(e.g., floating-base\n" |
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"joints) to be zero. We compute these torques and their derivatives " |
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"using RNEA inside \n" |
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"DifferentialActionModelFreeInvDynamics.", |
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bp::init<boost::shared_ptr<StateMultibody>, std::size_t>( |
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bp::args("self", "state", "nu"), |
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"Initialize the actuation residual model.\n\n" |
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":param state: state description\n" |
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":param nu: dimension of the joint torques")) |
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.def<void ( |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation::*)( |
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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", |
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&DifferentialActionModelFreeInvDynamics::ResidualModelActuation:: |
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calc, |
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bp::args("self", "data", "x", "u"), |
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"Compute the actuation 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 ( |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation::*)( |
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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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.def<void ( |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation::*)( |
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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", |
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&DifferentialActionModelFreeInvDynamics::ResidualModelActuation:: |
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calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the actuation residual.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)\n") |
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.def<void ( |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation::*)( |
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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", |
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&DifferentialActionModelFreeInvDynamics::ResidualModelActuation:: |
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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 actuation 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 actuation residual.\n" |
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":param data: shared data\n" |
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":return residual data.") |
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.def(CopyableVisitor< |
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DifferentialActionModelFreeInvDynamics::ResidualModelActuation>()); |
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} |
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bp::register_ptr_to_python< |
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boost::shared_ptr<DifferentialActionDataFreeInvDynamics>>(); |
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bp::scope data_outer = |
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bp::class_<DifferentialActionDataFreeInvDynamics, |
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bp::bases<DifferentialActionDataAbstract>>( |
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"DifferentialActionDataFreeInvDynamics", |
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"Action data for the free inverse-dynamics system.", |
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bp::init<DifferentialActionModelFreeInvDynamics*>( |
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bp::args("self", "model"), |
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"Create free inverse-dynamics action data.\n\n" |
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":param model: free inverse-dynamics action model")) |
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.add_property( |
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"pinocchio", |
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bp::make_getter(&DifferentialActionDataFreeInvDynamics::pinocchio, |
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bp::return_internal_reference<>()), |
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"pinocchio data") |
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.add_property( |
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"multibody", |
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bp::make_getter(&DifferentialActionDataFreeInvDynamics::multibody, |
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bp::return_internal_reference<>()), |
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"multibody data") |
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.add_property( |
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"costs", |
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bp::make_getter(&DifferentialActionDataFreeInvDynamics::costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost data") |
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.add_property("constraints", |
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bp::make_getter( |
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&DifferentialActionDataFreeInvDynamics::constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint data") |
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.def(CopyableVisitor<DifferentialActionDataFreeInvDynamics>()); |
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bp::register_ptr_to_python<boost::shared_ptr< |
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DifferentialActionDataFreeInvDynamics::ResidualDataActuation>>(); |
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bp::class_<DifferentialActionDataFreeInvDynamics::ResidualDataActuation, |
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bp::bases<ResidualDataAbstract>>( |
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"ResidualDataActuation", "Data for actuation residual.\n\n", |
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bp::init<DifferentialActionModelFreeInvDynamics::ResidualModelActuation*, |
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DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create actuation residual data.\n\n" |
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":param model: actuation 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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.def(CopyableVisitor< |
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DifferentialActionDataFreeInvDynamics::ResidualDataActuation>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |