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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/multiple-impulses.hpp" |
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#include <functional> |
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#include <map> |
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#include <memory> |
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#include <string> |
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#include <utility> |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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#include "python/crocoddyl/utils/map-converter.hpp" |
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#include "python/crocoddyl/utils/printable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ImpulseModelMultiple_addImpulse_wrap, |
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ImpulseModelMultiple::addImpulse, 2, 3) |
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void exposeImpulseMultiple() { |
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// Register custom converters between std::map and Python dict |
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typedef boost::shared_ptr<ImpulseItem> ImpulseItemPtr; |
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typedef boost::shared_ptr<ImpulseDataAbstract> ImpulseDataPtr; |
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StdMapPythonVisitor< |
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std::string, ImpulseItemPtr, std::less<std::string>, |
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std::allocator<std::pair<const std::string, ImpulseItemPtr>>, |
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true>::expose("StdMap_ImpulseItem"); |
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StdMapPythonVisitor< |
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std::string, ImpulseDataPtr, std::less<std::string>, |
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std::allocator<std::pair<const std::string, ImpulseDataPtr>>, |
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true>::expose("StdMap_ImpulseData"); |
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bp::register_ptr_to_python<boost::shared_ptr<ImpulseItem>>(); |
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bp::class_<ImpulseItem>( |
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"ImpulseItem", "Describe a impulse item.\n\n", |
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bp::init<std::string, boost::shared_ptr<ImpulseModelAbstract>, |
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bp::optional<bool>>( |
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bp::args("self", "name", "impulse", "active"), |
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"Initialize the impulse item.\n\n" |
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":param name: impulse name\n" |
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":param impulse: impulse model\n" |
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":param active: True if the impulse is activated (default true)")) |
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.def_readwrite("name", &ImpulseItem::name, "impulse name") |
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.add_property( |
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"impulse", |
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bp::make_getter(&ImpulseItem::impulse, |
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bp::return_value_policy<bp::return_by_value>()), |
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"impulse model") |
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.def_readwrite("active", &ImpulseItem::active, "impulse status") |
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.def(CopyableVisitor<ImpulseItem>()) |
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.def(PrintableVisitor<ImpulseItem>()); |
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; |
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bp::register_ptr_to_python<boost::shared_ptr<ImpulseModelMultiple>>(); |
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bp::class_<ImpulseModelMultiple>( |
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"ImpulseModelMultiple", |
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bp::init<boost::shared_ptr<StateMultibody>>( |
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bp::args("self", "state"), |
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"Initialize the multiple impulse model.\n\n" |
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":param state: state of the multibody system")) |
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.def( |
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"addImpulse", &ImpulseModelMultiple::addImpulse, |
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ImpulseModelMultiple_addImpulse_wrap( |
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bp::args("self", "name", "impulse", "active"), |
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"Add an impulse item.\n\n" |
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":param name: impulse name\n" |
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":param impulse: impulse model\n" |
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":param active: True if the impulse is activated (default true)")) |
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.def("removeImpulse", &ImpulseModelMultiple::removeImpulse, |
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bp::args("self", "name"), |
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"Remove an impulse item.\n\n" |
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":param name: impulse name") |
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.def("changeImpulseStatus", &ImpulseModelMultiple::changeImpulseStatus, |
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bp::args("self", "name", "active"), |
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"Change the impulse status.\n\n" |
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":param name: impulse name\n" |
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":param active: impulse status (true for active and false for " |
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"inactive)") |
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.def("calc", &ImpulseModelMultiple::calc, bp::args("self", "data", "x"), |
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"Compute the 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", &ImpulseModelMultiple::calcDiff, |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of the 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: impulse data\n" |
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":param x: state point (dim. state.nx)") |
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.def("updateVelocity", &ImpulseModelMultiple::updateVelocity, |
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bp::args("self", "data", "vnext"), |
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"Update the system velocity after impulse.\n\n" |
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":param data: impulse data\n" |
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":param vnext: velocity after impulse (dimension nv)") |
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.def("updateForce", &ImpulseModelMultiple::updateForce, |
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bp::args("self", "data", "force"), |
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"Update the spatial impulse defined in frame coordinate.\n\n" |
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":param data: impulse data\n" |
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":param force: force vector (dimension ni)") |
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.def("updateVelocityDiff", &ImpulseModelMultiple::updateVelocityDiff, |
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bp::args("self", "data", "dvnext_dx"), |
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"Update the Jacobian of the system velocity after impulse.\n\n" |
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":param data: impulse data\n" |
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":param dvnext_dx: Jacobian of the impulse velocity (dimension " |
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"nv*ndx)") |
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.def("updateForceDiff", &ImpulseModelMultiple::updateForceDiff, |
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bp::args("self", "data", "df_dx"), |
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"Update the Jacobian of the spatial impulse defined in frame " |
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"coordinate.\n\n" |
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":param data: impulse data\n" |
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":param df_dx: Jacobian of the impulse force (dimension ni*ndx)") |
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.def("updateRneaDiff", &ImpulseModelMultiple::updateRneaDiff, |
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bp::args("self", "data", "pinocchio"), |
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"Update the RNEA derivative dtau_dq by by adding the skew term " |
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"(necessary for impulses expressed in\n" |
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"LOCAL_WORLD_ALIGNED / WORLD).\n\n" |
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":param data: impulse data\n" |
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":param pinocchio: Pinocchio data") |
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.def("createData", &ImpulseModelMultiple::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 total impulse data.\n\n" |
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":param data: Pinocchio data\n" |
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":return total impulse data.") |
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.add_property( |
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"impulses", |
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bp::make_function(&ImpulseModelMultiple::get_impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of impulses") |
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.add_property( |
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"state", |
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bp::make_function(&ImpulseModelMultiple::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state of the multibody system") |
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.add_property("nc", bp::make_function(&ImpulseModelMultiple::get_nc), |
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"dimension of the active impulse vector") |
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.add_property("nc_total", |
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bp::make_function(&ImpulseModelMultiple::get_nc_total), |
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"dimension of the total impulse vector") |
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.add_property( |
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"active_set", |
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bp::make_function(&ImpulseModelMultiple::get_active_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"set of names of active impulse items") |
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.add_property( |
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"inactive_set", |
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bp::make_function(&ImpulseModelMultiple::get_inactive_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"set of names of inactive impulse items") |
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.def("getImpulseStatus", &ImpulseModelMultiple::getImpulseStatus, |
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bp::args("self", "name"), |
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"Return the impulse status of a given impulse name.\n\n" |
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":param name: impulse name") |
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.def(CopyableVisitor<ImpulseModelMultiple>()) |
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.def(PrintableVisitor<ImpulseModelMultiple>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ImpulseDataMultiple>>(); |
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bp::class_<ImpulseDataMultiple>( |
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"ImpulseDataMultiple", "Data class for multiple impulses.\n\n", |
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bp::init<ImpulseModelMultiple*, pinocchio::Data*>( |
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bp::args("self", "model", "data"), |
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"Create multi-impulse data.\n\n" |
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":param model: multi-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("Jc", |
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bp::make_getter(&ImpulseDataMultiple::Jc, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ImpulseDataMultiple::Jc), |
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"Jacobian for all impulses (active and inactive)") |
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.add_property( |
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"dv0_dq", |
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bp::make_getter(&ImpulseDataMultiple::dv0_dq, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ImpulseDataMultiple::dv0_dq), |
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"Jacobian of the previous impulse velocity (active and inactive)") |
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.add_property("vnext", |
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bp::make_getter(&ImpulseDataMultiple::vnext, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ImpulseDataMultiple::vnext), |
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"impulse system velocity") |
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.add_property("dvnext_dx", |
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bp::make_getter(&ImpulseDataMultiple::dvnext_dx, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&ImpulseDataMultiple::dvnext_dx), |
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"Jacobian of the impulse system velocity") |
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.add_property( |
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"impulses", |
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bp::make_getter(&ImpulseDataMultiple::impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of impulses data") |
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.def_readwrite("fext", &ImpulseDataMultiple::fext, |
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"external spatial forces") |
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.def(CopyableVisitor<ImpulseDataMultiple>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |