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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/force-base.hpp" |
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#include "python/crocoddyl/multibody/contact-base.hpp" |
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#include "python/crocoddyl/multibody/impulse-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 exposeForceAbstract() { |
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bp::register_ptr_to_python<boost::shared_ptr<ForceDataAbstract> >(); |
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✓✗ |
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bp::class_<ForceDataAbstract>( |
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"ForceDataAbstract", "Abstract class for force datas.\n\n", |
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✓✗ |
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bp::init<ContactModelAbstract*, pinocchio::Data*>( |
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✓✗ |
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bp::args("self", "model", "data"), |
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"Create common data shared between force models.\n\n" |
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":param model: force/impulse model\n" |
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":param data: Pinocchio data")[bp::with_custodian_and_ward< |
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✓✗ |
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1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
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✓✗ |
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.def(bp::init<ImpulseModelAbstract*, |
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pinocchio::Data*>()[bp::with_custodian_and_ward< |
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✓✗✓✗
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1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
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.add_property("pinocchio", |
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✓✗ |
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bp::make_getter(&ForceDataAbstract::pinocchio, |
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bp::return_internal_reference<>()), |
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✓✗ |
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"pinocchio data") |
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.def_readwrite("frame", &ForceDataAbstract::frame, |
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✓✗ |
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"frame id of the contact") |
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✓✗ |
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.def_readwrite("type", &ForceDataAbstract::type, "type of contact") |
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.add_property( |
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"jMf", |
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✓✗ |
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bp::make_getter(&ForceDataAbstract::jMf, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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bp::make_setter(&ForceDataAbstract::jMf), |
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✓✗ |
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"local frame placement of the contact frame") |
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.add_property("Jc", |
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✓✗ |
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bp::make_getter(&ForceDataAbstract::Jc, |
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bp::return_internal_reference<>()), |
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✓✗✓✗
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bp::make_setter(&ForceDataAbstract::Jc), "contact Jacobian") |
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.def_readwrite( |
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"f", &ForceDataAbstract::f, |
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✓✗ |
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"contact force expressed in the coordinate defined by type") |
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.def_readwrite("fext", &ForceDataAbstract::fext, |
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"external spatial force at the parent joint level. Note " |
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"that we could compute the force at the " |
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✓✗ |
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"contact frame by using jMf (i.e. data.jMf.actInv(data.f)") |
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.add_property("df_dx", |
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✓✗ |
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bp::make_getter(&ForceDataAbstract::df_dx, |
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bp::return_internal_reference<>()), |
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✓✗ |
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bp::make_setter(&ForceDataAbstract::df_dx), |
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"Jacobian of the contact forces expressed in the " |
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✓✗ |
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"coordinate defined by type") |
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.add_property("df_du", |
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✓✗ |
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bp::make_getter(&ForceDataAbstract::df_du, |
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bp::return_internal_reference<>()), |
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✓✗ |
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bp::make_setter(&ForceDataAbstract::df_du), |
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"Jacobian of the contact forces expressed in the " |
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✓✗ |
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"coordinate defined by type") |
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✓✗ |
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.def(CopyableVisitor<ForceDataAbstract>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |