| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
// Auto-generated file for float |
| 10 |
|
|
#include "crocoddyl/multibody/residuals/centroidal-momentum.hpp" |
| 11 |
|
|
|
| 12 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 13 |
|
|
|
| 14 |
|
|
namespace crocoddyl { |
| 15 |
|
|
namespace python { |
| 16 |
|
|
|
| 17 |
|
|
template <typename Model> |
| 18 |
|
|
struct ResidualModelCentroidalMomentumVisitor |
| 19 |
|
|
: public bp::def_visitor<ResidualModelCentroidalMomentumVisitor<Model>> { |
| 20 |
|
|
typedef typename Model::ResidualDataAbstract Data; |
| 21 |
|
|
typedef typename Model::Base ModelBase; |
| 22 |
|
|
typedef typename Model::StateMultibody State; |
| 23 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 24 |
|
|
typedef typename Model::Vector6s Vector6s; |
| 25 |
|
|
template <class PyClass> |
| 26 |
|
✗ |
void visit(PyClass& cl) const { |
| 27 |
|
✗ |
cl.def(bp::init<std::shared_ptr<State>, Vector6s>( |
| 28 |
|
|
bp::args("self", "state", "href"), |
| 29 |
|
|
"Initialize the centroidal momentum residual model.\n\n" |
| 30 |
|
|
"The default nu is obtained from state.nv.\n" |
| 31 |
|
|
":param state: state of the multibody system\n" |
| 32 |
|
|
":param href: reference centroidal momentum")) |
| 33 |
|
✗ |
.def( |
| 34 |
|
|
"calc", |
| 35 |
|
|
static_cast<void (Model::*)( |
| 36 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 37 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
| 38 |
|
|
bp::args("self", "data", "x", "u"), |
| 39 |
|
|
"Compute the centroidal momentum residual.\n\n" |
| 40 |
|
|
":param data: residual data\n" |
| 41 |
|
|
":param x: state point (dim. state.nx)\n" |
| 42 |
|
|
":param u: control input (dim. nu)") |
| 43 |
|
✗ |
.def( |
| 44 |
|
|
"calc", |
| 45 |
|
|
static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
| 46 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 47 |
|
|
&ModelBase::calc), |
| 48 |
|
|
bp::args("self", "data", "x")) |
| 49 |
|
✗ |
.def( |
| 50 |
|
|
"calcDiff", |
| 51 |
|
|
static_cast<void (Model::*)( |
| 52 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 53 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
| 54 |
|
|
bp::args("self", "data", "x", "u"), |
| 55 |
|
|
"Compute the Jacobians of the centroidal momentum residual.\n\n" |
| 56 |
|
|
"It assumes that calc has been run first.\n" |
| 57 |
|
|
":param data: action data\n" |
| 58 |
|
|
":param x: state point (dim. state.nx)\n" |
| 59 |
|
|
":param u: control input (dim. nu)") |
| 60 |
|
✗ |
.def( |
| 61 |
|
|
"calcDiff", |
| 62 |
|
|
static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
| 63 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 64 |
|
|
&ModelBase::calcDiff), |
| 65 |
|
|
bp::args("self", "data", "x")) |
| 66 |
|
✗ |
.def("createData", &ResidualModelCentroidalMomentum::createData, |
| 67 |
|
✗ |
bp::with_custodian_and_ward_postcall<0, 2>(), |
| 68 |
|
|
bp::args("self", "data"), |
| 69 |
|
|
"Create the centroidal momentum residual data.\n\n" |
| 70 |
|
|
"Each residual model has its own data that needs to be allocated. " |
| 71 |
|
|
"This function returns the allocated data for the centroidal " |
| 72 |
|
|
"momentum residual.\n" |
| 73 |
|
|
":param data: shared data\n" |
| 74 |
|
|
":return residual data.") |
| 75 |
|
✗ |
.add_property("reference", |
| 76 |
|
|
bp::make_function(&Model::get_reference, |
| 77 |
|
✗ |
bp::return_internal_reference<>()), |
| 78 |
|
|
&Model::set_reference, "reference centroidal momentum"); |
| 79 |
|
|
} |
| 80 |
|
|
}; |
| 81 |
|
|
|
| 82 |
|
|
template <typename Data> |
| 83 |
|
|
struct ResidualDataCentroidalMomentumVisitor |
| 84 |
|
|
: public bp::def_visitor<ResidualDataCentroidalMomentumVisitor<Data>> { |
| 85 |
|
|
template <class PyClass> |
| 86 |
|
✗ |
void visit(PyClass& cl) const { |
| 87 |
|
✗ |
cl.add_property( |
| 88 |
|
|
"pinocchio", |
| 89 |
|
✗ |
bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
| 90 |
|
|
"pinocchio data") |
| 91 |
|
✗ |
.add_property( |
| 92 |
|
|
"dhd_dq", |
| 93 |
|
✗ |
bp::make_getter(&Data::dhd_dq, bp::return_internal_reference<>()), |
| 94 |
|
|
"Jacobian of the centroidal momentum") |
| 95 |
|
✗ |
.add_property( |
| 96 |
|
|
"dhd_dv", |
| 97 |
|
✗ |
bp::make_getter(&Data::dhd_dv, bp::return_internal_reference<>()), |
| 98 |
|
|
"Jacobian of the centroidal momentum"); |
| 99 |
|
|
} |
| 100 |
|
|
}; |
| 101 |
|
|
|
| 102 |
|
|
#define CROCODDYL_RESIDUAL_MODEL_CENTROIDAL_MOMENTUM_PYTHON_BINDINGS(Scalar) \ |
| 103 |
|
|
typedef ResidualModelCentroidalMomentumTpl<Scalar> Model; \ |
| 104 |
|
|
typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
| 105 |
|
|
typedef typename Model::StateMultibody State; \ |
| 106 |
|
|
typedef typename Model::Vector6s Vector6s; \ |
| 107 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 108 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 109 |
|
|
"ResidualModelCentroidalMomentum", \ |
| 110 |
|
|
"This residual function defines the centroidal momentum tracking as r " \ |
| 111 |
|
|
"= h - href, with h and href as the current and reference centroidal " \ |
| 112 |
|
|
"momenta, respectively.", \ |
| 113 |
|
|
bp::init<std::shared_ptr<State>, Vector6s, std::size_t>( \ |
| 114 |
|
|
bp::args("self", "state", "href", "nu"), \ |
| 115 |
|
|
"Initialize the centroidal momentum residual model.\n\n" \ |
| 116 |
|
|
":param state: state of the multibody system\n" \ |
| 117 |
|
|
":param href: reference centroidal momentum\n" \ |
| 118 |
|
|
":param nu: dimension of control vector")) \ |
| 119 |
|
|
.def(ResidualModelCentroidalMomentumVisitor<Model>()) \ |
| 120 |
|
|
.def(CastVisitor<Model>()) \ |
| 121 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 122 |
|
|
.def(CopyableVisitor<Model>()); |
| 123 |
|
|
|
| 124 |
|
|
#define CROCODDYL_RESIDUAL_DATA_CENTROIDAL_MOMENTUM_PYTHON_BINDINGS(Scalar) \ |
| 125 |
|
|
typedef ResidualDataCentroidalMomentumTpl<Scalar> Data; \ |
| 126 |
|
|
typedef ResidualDataAbstractTpl<Scalar> DataBase; \ |
| 127 |
|
|
typedef ResidualModelCentroidalMomentumTpl<Scalar> Model; \ |
| 128 |
|
|
typedef Model::DataCollectorAbstract DataCollector; \ |
| 129 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 130 |
|
|
bp::class_<Data, bp::bases<DataBase>>( \ |
| 131 |
|
|
"ResidualDataCentroidalMomentum", \ |
| 132 |
|
|
"Data for centroidal momentum residual.\n\n", \ |
| 133 |
|
|
bp::init<Model*, DataCollector*>( \ |
| 134 |
|
|
bp::args("self", "model", "data"), \ |
| 135 |
|
|
"Create centroidal momentum residual data.\n\n" \ |
| 136 |
|
|
":param model: centroidal momentum residual model\n" \ |
| 137 |
|
|
":param data: shared data")[bp::with_custodian_and_ward< \ |
| 138 |
|
|
1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
| 139 |
|
|
.def(ResidualDataCentroidalMomentumVisitor<Data>()) \ |
| 140 |
|
|
.def(CopyableVisitor<Data>()); |
| 141 |
|
|
|
| 142 |
|
✗ |
void exposeResidualCentroidalMomentum() { |
| 143 |
|
✗ |
CROCODDYL_RESIDUAL_MODEL_CENTROIDAL_MOMENTUM_PYTHON_BINDINGS(float) |
| 144 |
|
✗ |
CROCODDYL_RESIDUAL_DATA_CENTROIDAL_MOMENTUM_PYTHON_BINDINGS(float) |
| 145 |
|
|
} |
| 146 |
|
|
|
| 147 |
|
|
} // namespace python |
| 148 |
|
|
} // namespace crocoddyl |
| 149 |
|
|
|