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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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// University of Oxford, 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/impulse-fwddyn.hpp" |
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#include "python/crocoddyl/core/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 exposeActionImpulseFwdDynamics() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ActionModelImpulseFwdDynamics> >(); |
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✓✗ |
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bp::class_<ActionModelImpulseFwdDynamics, bp::bases<ActionModelAbstract> >( |
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"ActionModelImpulseFwdDynamics", |
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"Action model for impulse forward dynamics in multibody systems.\n\n" |
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"The impulse is modelled as holonomic constraits in the contact frame. " |
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"There\n" |
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"is also a custom implementation in case of system with armatures. If " |
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"you want to\n" |
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"include the armature, you need to use set_armature(). On the other " |
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"hand, the\n" |
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"stack of cost functions are implemented in CostModelSum().", |
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✓✗ |
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bp::init<boost::shared_ptr<StateMultibody>, |
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boost::shared_ptr<ImpulseModelMultiple>, |
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boost::shared_ptr<CostModelSum>, |
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bp::optional<double, double, bool> >( |
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bp::args("self", "state", " impulses", "costs", "r_coeff", |
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"inv_damping", "enable_force"), |
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"Initialize the impulse forward-dynamics action model.\n\n" |
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"The damping factor is needed when the contact Jacobian is not " |
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"full-rank. Otherwise,\n" |
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"a good damping factor could be 1e-12. In addition, if you have cost " |
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"based on forces,\n" |
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"you need to enable the computation of the force Jacobians (i.e. " |
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"enable_force=True)." |
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":param state: multibody state\n" |
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":param impulses: multiple impulse model\n" |
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":param costs: stack of cost functions\n" |
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":param r_coeff: restitution coefficient (default 0.)\n" |
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":param inv_damping: Damping factor for cholesky decomposition of " |
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"JMinvJt (default 0.)\n" |
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":param enable_force: Enable the computation of force Jacobians " |
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"(default False)")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<StateMultibody>, |
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boost::shared_ptr<ImpulseModelMultiple>, |
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boost::shared_ptr<CostModelSum>, |
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boost::shared_ptr<ConstraintModelManager>, |
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bp::optional<double, double, bool> >( |
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✓✗ |
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bp::args("self", "state", "impulses", "costs", "constraints", |
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"r_coeff", "inv_damping", "enable_force"), |
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"Initialize the constrained forward-dynamics action model.\n\n" |
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"The damping factor is needed when the contact Jacobian is not " |
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"full-rank. Otherwise,\n" |
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"a good damping factor could be 1e-12. In addition, if you have cost " |
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"based on forces,\n" |
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"you need to enable the computation of the force Jacobians (i.e. " |
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"enable_force=True)." |
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":param state: multibody state\n" |
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":param impulses: multiple impulse model\n" |
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":param costs: stack of cost functions\n" |
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":param constraints: stack of constraint functions\n" |
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":param r_coeff: restitution coefficient (default 0.)\n" |
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":param inv_damping: Damping factor for cholesky decomposition of " |
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"JMinvJt (default 0.)\n" |
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":param enable_force: Enable the computation of force Jacobians " |
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✓✗ |
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"(default False)")) |
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.def<void (ActionModelImpulseFwdDynamics::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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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", &ActionModelImpulseFwdDynamics::calc, |
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✓✗ |
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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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"It describes the time-continuous evolution of the multibody system " |
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"with impulse. The\n" |
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"impulses are modelled as holonomic constraints.\n" |
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"Additionally it computes the cost value associated to this state " |
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"and control pair.\n" |
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":param data: impulse forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input") |
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.def<void (ActionModelImpulseFwdDynamics::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActionModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (ActionModelImpulseFwdDynamics::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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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", &ActionModelImpulseFwdDynamics::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the differential multibody system and " |
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"its cost\n" |
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"functions.\n\n" |
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"It computes the partial derivatives of the differential multibody " |
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"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: impulse forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input\n" |
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✓✗ |
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"") |
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.def<void (ActionModelImpulseFwdDynamics::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &ActionModelImpulseFwdDynamics::createData, |
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bp::args("self"), |
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"Create the impulse forward dynamics differential action data.") |
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.add_property( |
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"pinocchio", |
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bp::make_function(&ActionModelImpulseFwdDynamics::get_pinocchio, |
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bp::return_internal_reference<>()), |
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"multibody model (i.e. pinocchio model)") |
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.add_property( |
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"impulses", |
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bp::make_function(&ActionModelImpulseFwdDynamics::get_impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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"multiple contact model") |
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.add_property( |
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"costs", |
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bp::make_function(&ActionModelImpulseFwdDynamics::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(&ActionModelImpulseFwdDynamics::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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.add_property( |
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"armature", |
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bp::make_function(&ActionModelImpulseFwdDynamics::get_armature, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelImpulseFwdDynamics::set_armature), |
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"set an armature mechanism in the joints") |
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.add_property( |
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"r_coeff", |
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bp::make_function( |
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&ActionModelImpulseFwdDynamics::get_restitution_coefficient), |
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bp::make_function( |
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&ActionModelImpulseFwdDynamics::set_restitution_coefficient), |
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"Restitution coefficient that describes elastic impacts") |
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.add_property( |
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"JMinvJt_damping", |
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bp::make_function(&ActionModelImpulseFwdDynamics::get_damping_factor), |
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bp::make_function(&ActionModelImpulseFwdDynamics::set_damping_factor), |
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"Damping factor for cholesky decomposition of JMinvJt") |
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.def(CopyableVisitor<ActionModelImpulseFwdDynamics>()); |
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bp::register_ptr_to_python< |
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boost::shared_ptr<ActionDataImpulseFwdDynamics> >(); |
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✓✗ |
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bp::class_<ActionDataImpulseFwdDynamics, bp::bases<ActionDataAbstract> >( |
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"ActionDataImpulseFwdDynamics", |
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"Action data for the impulse forward dynamics system.", |
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bp::init<ActionModelImpulseFwdDynamics*>( |
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bp::args("self", "model"), |
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"Create impulse forward-dynamics action data.\n\n" |
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":param model: impulse forward-dynamics action model")) |
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.add_property("pinocchio", |
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bp::make_getter(&ActionDataImpulseFwdDynamics::pinocchio, |
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bp::return_internal_reference<>()), |
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"pinocchio data") |
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.add_property("multibody", |
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bp::make_getter(&ActionDataImpulseFwdDynamics::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(&ActionDataImpulseFwdDynamics::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( |
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"constraints", |
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bp::make_getter(&ActionDataImpulseFwdDynamics::constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint data") |
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.add_property("Kinv", |
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bp::make_getter(&ActionDataImpulseFwdDynamics::Kinv, |
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bp::return_internal_reference<>()), |
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"inverse of the KKT matrix") |
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.add_property("df_dx", |
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bp::make_getter(&ActionDataImpulseFwdDynamics::df_dx, |
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bp::return_internal_reference<>()), |
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"Jacobian of the contact impulse") |
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.def(CopyableVisitor<ActionDataImpulseFwdDynamics>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |