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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/residuals/impulse-com.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 exposeResidualImpulseCoM() { |
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bp::register_ptr_to_python<boost::shared_ptr<ResidualModelImpulseCoM> >(); |
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✓✗ |
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bp::class_<ResidualModelImpulseCoM, bp::bases<ResidualModelAbstract> >( |
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"ResidualModelImpulseCoM", |
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"This residual function defines a residual vector as r = Jcom * " |
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"(vnext-v), with Jcom as the CoM Jacobian, and\n" |
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"vnext the velocity after impact and v the velocity before impact, " |
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"respectively.", |
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✓✗ |
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bp::init<boost::shared_ptr<StateMultibody> >( |
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bp::args("self", "state"), |
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"Initialize the CoM position cost model for impulse dynamics.\n\n" |
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"The default nu is obtained from state.nv.\n" |
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":param state: state of the multibody system")) |
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.def<void (ResidualModelImpulseCoM::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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✓✗ |
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"calc", &ResidualModelImpulseCoM::calc, bp::args("self", "data", "x"), |
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"Compute the CoM position residual.\n\n" |
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":param data: residual data\n" |
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✓✗ |
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":param x: state point (dim. state.nx)") |
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.def<void (ResidualModelImpulseCoM::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x")) |
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.def<void (ResidualModelImpulseCoM::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ResidualModelImpulseCoM::calcDiff, |
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✓✗ |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of the CoM position residual for impulse " |
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"dynamics.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action data\n" |
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✓✗✓✗
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":param x: state point (dim. state.nx)") |
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.def<void (ResidualModelImpulseCoM::*)( |
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const boost::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ResidualModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &ResidualModelImpulseCoM::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 CoM position residual data.\n\n" |
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"Each residual 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 the impulse CoM residual.\n" |
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":param data: shared data\n" |
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✓✗✓✗
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":return residual data.") |
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✓✗ |
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.def(CopyableVisitor<ResidualModelImpulseCoM>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ResidualDataImpulseCoM> >(); |
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✓✗ |
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bp::class_<ResidualDataImpulseCoM, bp::bases<ResidualDataAbstract> >( |
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"ResidualDataImpulseCoM", "Data for impulse CoM residual.\n\n", |
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bp::init<ResidualModelImpulseCoM*, DataCollectorAbstract*>( |
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bp::args("self", "model", "data"), |
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"Create contact force residual data.\n\n" |
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":param model: impulse CoM residual model\n" |
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":param data: shared 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(&ResidualDataImpulseCoM::pinocchio, |
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bp::return_internal_reference<>()), |
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✓✗ |
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"pinocchio data") |
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.add_property( |
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"impulses", |
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bp::make_getter(&ResidualDataImpulseCoM::impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&ResidualDataImpulseCoM::impulses), |
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"impulses data associated with the current residual") |
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.add_property("dvc_dq", |
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bp::make_getter(&ResidualDataImpulseCoM::dvc_dq, |
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bp::return_internal_reference<>()), |
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"Jacobian of the CoM velocity") |
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.add_property("ddv_dv", |
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bp::make_getter(&ResidualDataImpulseCoM::ddv_dv, |
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bp::return_internal_reference<>()), |
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"Jacobian of the impulse velocity") |
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.add_property("pinocchio_internal", |
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bp::make_getter(&ResidualDataImpulseCoM::pinocchio_internal, |
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bp::return_internal_reference<>()), |
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"internal pinocchio data used for extra computations") |
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.def(CopyableVisitor<ResidualDataImpulseCoM>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |