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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, IRI: CSIC-UPC |
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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 "crocoddyl/multibody/actuations/multicopter-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 exposeActuationModelMultiCopterBase() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<crocoddyl::ActuationModelMultiCopterBase> >(); |
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✓✗ |
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bp::class_<ActuationModelMultiCopterBase, bp::bases<ActuationModelAbstract> >( |
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"ActuationModelMultiCopterBase", |
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"Actuation models with base actuated by several propellers (e.g. aerial " |
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"manipulators).", |
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✓✗ |
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bp::init<boost::shared_ptr<StateMultibody>, |
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Eigen::Matrix<double, 6, Eigen::Dynamic> >( |
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bp::args("self", "state", "tau_f"), |
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"Initialize the full actuation model.\n\n" |
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":param state: state of multibody system\n" |
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":param tau_f: matrix that maps rotors thrust to generalized torque " |
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"of the flying base.")) |
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✓✗ |
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.def(bp::init<boost::shared_ptr<StateMultibody>, std::size_t, |
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Eigen::Matrix<double, 6, Eigen::Dynamic> >( |
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bp::args("self", "state", "nrotors", "tau_f"), |
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"Initialize the full actuation model.\n\n" |
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":param state: state of multibody system, \n" |
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":param nrotors: number of rotors of the flying base, \n" |
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":param tau_f: matrix that maps rotors thrust to generalized torque " |
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✓✗ |
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"of the flying base.")) |
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.def<void (ActuationModelMultiCopterBase::*)( |
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const boost::shared_ptr<ActuationDataAbstract>&, |
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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", &ActuationModelMultiCopterBase::calc, |
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✓✗ |
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bp::args("self", "data", "x", "u"), |
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"Compute the actuation signal and actuation set from the joint " |
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"torque input u.\n\n" |
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":param data: multicopter-base actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param u: joint torque input (dim. nu)") |
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.def("calcDiff", &ActuationModelMultiCopterBase::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the actuation model.\n\n" |
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"It computes the partial derivatives of the full actuation. It " |
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"assumes that calc\n" |
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"has been run first. The reason is that the derivatives are " |
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"constant and\n" |
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"defined in createData. The Hessian is constant, so we don't write " |
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"again this value.\n" |
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":param data: multicopter-base actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param u: joint torque input (dim. nu)") |
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.def("commands", &ActuationModelMultiCopterBase::commands, |
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bp::args("self", "data", "x", "tau"), |
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"Compute the joint torque commands from the generalized torques.\n\n" |
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"It stores the results in data.u.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param tau: generalized torques (dim state.nv)") |
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.def("torqueTransform", &ActuationModelMultiCopterBase::torqueTransform, |
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bp::args("self", "data", "x", "tau"), |
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"Compute the torque transform from generalized torques to joint " |
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"torque inputs.\n\n" |
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"It stores the results in data.Mtau.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param tau: generalized torques (dim state.nv)") |
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.def("createData", &ActuationModelMultiCopterBase::createData, |
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bp::args("self"), |
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"Create the multicopter-base actuation data.\n\n" |
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"Each actuation model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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":return AM data.") |
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.add_property( |
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"nrotors", |
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bp::make_function(&ActuationModelMultiCopterBase::get_nrotors), |
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"Number of rotors in the flying base") |
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.add_property( |
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"tauf", |
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bp::make_function(&ActuationModelMultiCopterBase::get_tauf, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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bp::make_function(&ActuationModelMultiCopterBase::set_tauf), |
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"Matrix mapping from thrusts to body torque") |
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.def(CopyableVisitor<ActuationModelMultiCopterBase>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |