1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
5 |
|
|
// Heriot-Watt University |
6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
7 |
|
|
// All rights reserved. |
8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
9 |
|
|
|
10 |
|
|
#ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |
11 |
|
|
#define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |
12 |
|
|
|
13 |
|
|
#include "crocoddyl/core/utils/exception.hpp" |
14 |
|
|
#include "crocoddyl/multibody/contact-base.hpp" |
15 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
16 |
|
|
|
17 |
|
|
namespace crocoddyl { |
18 |
|
|
namespace python { |
19 |
|
|
|
20 |
|
|
class ContactModelAbstract_wrap : public ContactModelAbstract, |
21 |
|
|
public bp::wrapper<ContactModelAbstract> { |
22 |
|
|
public: |
23 |
|
1 |
ContactModelAbstract_wrap(boost::shared_ptr<StateMultibody> state, |
24 |
|
|
const pinocchio::ReferenceFrame type, |
25 |
|
|
std::size_t nc, std::size_t nu) |
26 |
|
1 |
: ContactModelAbstract(state, type, nc, nu) {} |
27 |
|
9 |
ContactModelAbstract_wrap(boost::shared_ptr<StateMultibody> state, |
28 |
|
|
const pinocchio::ReferenceFrame type, |
29 |
|
|
std::size_t nc) |
30 |
✓✗ |
9 |
: ContactModelAbstract(state, type, nc) {} |
31 |
|
|
|
32 |
|
|
void calc(const boost::shared_ptr<ContactDataAbstract>& data, |
33 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x) { |
34 |
|
|
assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
35 |
|
|
"x has wrong dimension"); |
36 |
|
|
return bp::call<void>(this->get_override("calc").ptr(), data, |
37 |
|
|
(Eigen::VectorXd)x); |
38 |
|
|
} |
39 |
|
|
|
40 |
|
|
void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data, |
41 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x) { |
42 |
|
|
assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
43 |
|
|
"x has wrong dimension"); |
44 |
|
|
return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
45 |
|
|
(Eigen::VectorXd)x); |
46 |
|
|
} |
47 |
|
|
|
48 |
|
|
void updateForce(const boost::shared_ptr<ContactDataAbstract>& data, |
49 |
|
|
const Eigen::VectorXd& force) { |
50 |
|
|
assert_pretty(static_cast<std::size_t>(force.size()) == nc_, |
51 |
|
|
"force has wrong dimension"); |
52 |
|
|
return bp::call<void>(this->get_override("updateForce").ptr(), data, force); |
53 |
|
|
} |
54 |
|
|
|
55 |
|
|
boost::shared_ptr<ContactDataAbstract> createData( |
56 |
|
|
pinocchio::DataTpl<Scalar>* const data) { |
57 |
|
|
enableMultithreading() = false; |
58 |
|
|
if (boost::python::override createData = this->get_override("createData")) { |
59 |
|
|
return bp::call<boost::shared_ptr<ContactDataAbstract> >( |
60 |
|
|
createData.ptr(), boost::ref(data)); |
61 |
|
|
} |
62 |
|
|
return ContactModelAbstract::createData(data); |
63 |
|
|
} |
64 |
|
|
|
65 |
|
|
boost::shared_ptr<ContactDataAbstract> default_createData( |
66 |
|
|
pinocchio::DataTpl<Scalar>* const data) { |
67 |
|
|
return this->ContactModelAbstract::createData(data); |
68 |
|
|
} |
69 |
|
|
}; |
70 |
|
|
|
71 |
|
|
} // namespace python |
72 |
|
|
} // namespace crocoddyl |
73 |
|
|
|
74 |
|
|
#endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |