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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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// 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/impulses/impulse-6d.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 exposeImpulse6D() { |
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bp::register_ptr_to_python<boost::shared_ptr<ImpulseModel6D> >(); |
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✓✗ |
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bp::class_<ImpulseModel6D, bp::bases<ImpulseModelAbstract> >( |
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"ImpulseModel6D", |
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"Rigid 6D impulse model.\n\n" |
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"It defines a rigid 6D impulse models based on acceleration-based " |
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"holonomic constraints.\n" |
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"The calc and calcDiff functions compute the impulse Jacobian and drift " |
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"(holonomic constraint) or\n" |
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"the derivatives of the holonomic constraint, respectively.", |
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✓✗ |
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bp::init<boost::shared_ptr<StateMultibody>, std::size_t, |
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bp::optional<pinocchio::ReferenceFrame> >( |
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bp::args("self", "state", "frame", "type"), |
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"Initialize the impulse model.\n\n" |
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":param state: state of the multibody system\n" |
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":param type: type of impulse\n" |
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":param frame: reference frame id")) |
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.def("calc", &ImpulseModel6D::calc, bp::args("self", "data", "x"), |
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"Compute the 6D impulse Jacobian and drift.\n\n" |
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"The rigid impulse model throught acceleration-base holonomic " |
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"constraint\n" |
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"of the impulse frame placement.\n" |
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":param data: impulse data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", &ImpulseModel6D::calcDiff, bp::args("self", "data", "x"), |
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"Compute the derivatives of the 6D impulse holonomic constraint.\n\n" |
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"The rigid impulse model throught acceleration-base holonomic " |
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"constraint\n" |
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"of the impulse frame placement.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("updateForce", &ImpulseModel6D::updateForce, |
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bp::args("self", "data", "force"), |
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"Convert the force into a stack of spatial forces.\n\n" |
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":param data: cost data\n" |
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":param lambda: force vector (dimension 6)") |
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.def("createData", &ImpulseModel6D::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 6D impulse data.\n\n" |
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"Each impulse 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 a predefined cost.\n" |
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":param data: Pinocchio data\n" |
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":return impulse data.") |
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.def(CopyableVisitor<ImpulseModel6D>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ImpulseData6D> >(); |
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bp::class_<ImpulseData6D, bp::bases<ImpulseDataAbstract> >( |
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"ImpulseData6D", "Data for 6D impulse.\n\n", |
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bp::init<ImpulseModel6D*, pinocchio::Data*>( |
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bp::args("self", "model", "data"), |
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"Create 6D impulse data.\n\n" |
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":param model: 6D impulse model\n" |
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":param data: Pinocchio data")[bp::with_custodian_and_ward< |
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1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
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.add_property("dv0_local_dq", |
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bp::make_getter(&ImpulseData6D::dv0_local_dq, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ImpulseData6D::dv0_local_dq), |
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"Jacobian of the desired local contact velocity") |
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.add_property("fJf", |
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bp::make_getter(&ImpulseData6D::fJf, |
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bp::return_internal_reference<>()), |
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"local Jacobian of the impulse frame") |
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.add_property("v_partial_dq", |
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bp::make_getter(&ImpulseData6D::v_partial_dq, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body velocity") |
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.add_property("v_partial_dv", |
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bp::make_getter(&ImpulseData6D::v_partial_dv, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body velocity") |
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.def(CopyableVisitor<ImpulseData6D>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |