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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, 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 double | ||
| 10 | #include "python/crocoddyl/core/constraint-base.hpp" | ||
| 11 | |||
| 12 | #define SCALAR_float64 | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct ConstraintModelAbstractVisitor | ||
| 19 | : public bp::def_visitor<ConstraintModelAbstractVisitor<Model>> { | ||
| 20 | typedef typename Model::ConstraintModel ConstraintModel; | ||
| 21 | typedef typename Model::ConstraintData ConstraintData; | ||
| 22 | typedef typename Model::State State; | ||
| 23 | typedef typename Model::VectorXs VectorXs; | ||
| 24 | template <class PyClass> | ||
| 25 | ✗ | void visit(PyClass& cl) const { | |
| 26 | cl | ||
| 27 | ✗ | .def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t, | |
| 28 | std::size_t, bp::optional<bool>>( | ||
| 29 | bp::args("self", "state", "nu", "ng", "nh", "T_const"), | ||
| 30 | "Initialize the constraint model.\n\n" | ||
| 31 | ":param state: state description\n" | ||
| 32 | ":param nu: dimension of control vector (default state.nv)\n" | ||
| 33 | ":param ng: number of inequality constraints\n" | ||
| 34 | ":param nh: number of equality constraints\n" | ||
| 35 | ":param T_const: True if this is a constraint in both running and " | ||
| 36 | "terminal nodes.\n" | ||
| 37 | " False if it is a constraint on running nodes only " | ||
| 38 | "(default true)")) | ||
| 39 | ✗ | .def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t, | |
| 40 | bp::optional<bool>>( | ||
| 41 | bp::args("self", "state", "ng", "nh", "T_const"), | ||
| 42 | "Initialize the constraint model.\n\n" | ||
| 43 | ":param state: state description\n" | ||
| 44 | ":param ng: number of inequality constraints\n" | ||
| 45 | ":param nh: number of equality constraints\n" | ||
| 46 | ":param T_const: True if this is a constraint in both running and " | ||
| 47 | "terminal nodes.\n" | ||
| 48 | " False if it is a constraint on running nodes only " | ||
| 49 | "(default true)")) | ||
| 50 | ✗ | .def("calc", pure_virtual(&Model::calc), | |
| 51 | bp::args("self", "data", "x", "u"), | ||
| 52 | "Compute the constraint value.\n\n" | ||
| 53 | ":param data: constraint data\n" | ||
| 54 | ":param x: state point (dim. state.nx)\n" | ||
| 55 | ":param u: control input (dim. nu)") | ||
| 56 | ✗ | .def("calc", | |
| 57 | static_cast<void (ConstraintModel::*)( | ||
| 58 | const std::shared_ptr<ConstraintData>&, | ||
| 59 | const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calc), | ||
| 60 | bp::args("self", "data", "x"), | ||
| 61 | "Compute the constraint value for nodes that depends only on the " | ||
| 62 | "state.\n\n" | ||
| 63 | "It updates the constraint based on the state only.\n" | ||
| 64 | "This function is commonly used in the terminal nodes of an " | ||
| 65 | "optimal " | ||
| 66 | "control problem.\n" | ||
| 67 | ":param data: constraint data\n" | ||
| 68 | ":param x: state point (dim. state.nx)") | ||
| 69 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 70 | bp::args("self", "data", "x", "u"), | ||
| 71 | "Compute the Jacobians of the constraint function.\n\n" | ||
| 72 | "It computes the Jacobians of the constraint function.\n" | ||
| 73 | "It assumes that calc has been run first.\n" | ||
| 74 | ":param data: constraint data\n" | ||
| 75 | ":param x: state point (dim. state.nx)\n" | ||
| 76 | ":param u: control input (dim. nu)\n") | ||
| 77 | ✗ | .def( | |
| 78 | "calcDiff", | ||
| 79 | static_cast<void (ConstraintModel::*)( | ||
| 80 | const std::shared_ptr<ConstraintData>&, | ||
| 81 | const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calcDiff), | ||
| 82 | bp::args("self", "data", "x"), | ||
| 83 | "Compute the Jacobian of the constraint with respect to the state " | ||
| 84 | "only.\n\n" | ||
| 85 | "It computes the Jacobian of the constraint function based on the " | ||
| 86 | "state only.\n" | ||
| 87 | "This function is commonly used in the terminal nodes of an " | ||
| 88 | "optimal " | ||
| 89 | "control problem.\n" | ||
| 90 | ":param data: constraint data\n" | ||
| 91 | ":param x: state point (dim. state.nx)") | ||
| 92 | ✗ | .def("createData", &Model::createData, | |
| 93 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 94 | bp::args("self", "data"), | ||
| 95 | "Create the constraint data.\n\n" | ||
| 96 | "Each constraint model has its own data that needs to be " | ||
| 97 | "allocated. " | ||
| 98 | "This function\n" | ||
| 99 | "returns the allocated data for a predefined constraint.\n" | ||
| 100 | ":param data: shared data\n" | ||
| 101 | ":return constraint data.") | ||
| 102 | ✗ | .def("createData", &Model::default_createData, | |
| 103 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>()) | |
| 104 | ✗ | .def("updateBounds", &Model::update_bounds, | |
| 105 | bp::args("self", "lower", "upper"), | ||
| 106 | "Update the lower and upper bounds.\n\n" | ||
| 107 | ":param lower: lower bound\n" | ||
| 108 | ":param upper: upper bound") | ||
| 109 | ✗ | .def("removeBounds", &Model::remove_bounds, bp::args("self"), | |
| 110 | "Remove the bounds.") | ||
| 111 | ✗ | .add_property( | |
| 112 | "state", | ||
| 113 | bp::make_function(&Model::get_state, | ||
| 114 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 115 | "state description") | ||
| 116 | ✗ | .add_property( | |
| 117 | "residual", | ||
| 118 | bp::make_function(&Model::get_residual, | ||
| 119 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 120 | "residual model") | ||
| 121 | ✗ | .add_property("type", bp::make_function(&Model::get_type), | |
| 122 | "type of constraint") | ||
| 123 | ✗ | .add_property("lb", | |
| 124 | bp::make_function(&Model::get_lb, | ||
| 125 | ✗ | bp::return_internal_reference<>()), | |
| 126 | "lower bound of constraint") | ||
| 127 | ✗ | .add_property("ub", | |
| 128 | bp::make_function(&Model::get_ub, | ||
| 129 | ✗ | bp::return_internal_reference<>()), | |
| 130 | "upper bound of constraint") | ||
| 131 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 132 | "dimension of control vector") | ||
| 133 | ✗ | .add_property("ng", bp::make_function(&Model::get_ng), | |
| 134 | "number of inequality constraints") | ||
| 135 | ✗ | .add_property("nh", bp::make_function(&Model::get_nh), | |
| 136 | "number of equality constraints") | ||
| 137 | ✗ | .add_property( | |
| 138 | "T_constraint", bp::make_function(&Model::get_T_constraint), | ||
| 139 | "True if the constraint is imposed in terminal nodes as well"); | ||
| 140 | ✗ | } | |
| 141 | }; | ||
| 142 | |||
| 143 | template <typename Data> | ||
| 144 | struct ConstraintDataAbstractVisitor | ||
| 145 | : public bp::def_visitor<ConstraintDataAbstractVisitor<Data>> { | ||
| 146 | template <class PyClass> | ||
| 147 | ✗ | void visit(PyClass& cl) const { | |
| 148 | ✗ | cl.add_property( | |
| 149 | "shared", | ||
| 150 | ✗ | bp::make_getter(&Data::shared, bp::return_internal_reference<>()), | |
| 151 | "shared data") | ||
| 152 | ✗ | .add_property( | |
| 153 | "residual", | ||
| 154 | ✗ | bp::make_getter(&Data::residual, | |
| 155 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 156 | "residual data") | ||
| 157 | ✗ | .add_property( | |
| 158 | ✗ | "g", bp::make_getter(&Data::g, bp::return_internal_reference<>()), | |
| 159 | ✗ | bp::make_setter(&Data::g), "inequality constraint residual") | |
| 160 | ✗ | .add_property( | |
| 161 | ✗ | "Gx", bp::make_getter(&Data::Gx, bp::return_internal_reference<>()), | |
| 162 | ✗ | bp::make_setter(&Data::Gx), "Jacobian of the inequality constraint") | |
| 163 | ✗ | .add_property( | |
| 164 | ✗ | "Gu", bp::make_getter(&Data::Gu, bp::return_internal_reference<>()), | |
| 165 | ✗ | bp::make_setter(&Data::Gu), "Jacobian of the inequality constraint") | |
| 166 | ✗ | .add_property( | |
| 167 | ✗ | "h", bp::make_getter(&Data::h, bp::return_internal_reference<>()), | |
| 168 | ✗ | bp::make_setter(&Data::h), "equality constraint residual") | |
| 169 | ✗ | .add_property( | |
| 170 | ✗ | "Hx", bp::make_getter(&Data::Hx, bp::return_internal_reference<>()), | |
| 171 | ✗ | bp::make_setter(&Data::Hx), "Jacobian of the equality constraint") | |
| 172 | ✗ | .add_property( | |
| 173 | ✗ | "Hu", bp::make_getter(&Data::Hu, bp::return_internal_reference<>()), | |
| 174 | ✗ | bp::make_setter(&Data::Hu), "Jacobian of the equality constraint"); | |
| 175 | ✗ | } | |
| 176 | }; | ||
| 177 | |||
| 178 | #define CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 179 | typedef ConstraintModelAbstractTpl<Scalar> Model; \ | ||
| 180 | typedef ConstraintModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 181 | typedef StateAbstractTpl<Scalar> State; \ | ||
| 182 | typedef Model::ResidualModelAbstract ResidualModel; \ | ||
| 183 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 184 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 185 | "ConstraintModelAbstract", \ | ||
| 186 | "Abstract multibody constraint models.\n\n" \ | ||
| 187 | "A constraint model defines both: inequality g(x,u) and equality h(x, " \ | ||
| 188 | "u) constraints. The constraint function depends on the state point x, " \ | ||
| 189 | "which lies in the state manifold described with a nx-tuple, its " \ | ||
| 190 | "velocity xd that belongs to the tangent space with ndx dimension, and " \ | ||
| 191 | "the control input u.", \ | ||
| 192 | bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>, \ | ||
| 193 | std::size_t, std::size_t>( \ | ||
| 194 | bp::args("self", "state", "residual", "ng", "nh"), \ | ||
| 195 | "Initialize the constraint model.\n\n" \ | ||
| 196 | ":param state: state description\n" \ | ||
| 197 | ":param residual: residual model\n" \ | ||
| 198 | ":param ng: number of inequality constraints\n" \ | ||
| 199 | ":param nh: number of equality constraints")) \ | ||
| 200 | .def(ConstraintModelAbstractVisitor<Model_wrap>()) \ | ||
| 201 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 202 | .def(CopyableVisitor<Model_wrap>()); | ||
| 203 | |||
| 204 | #define CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 205 | typedef ConstraintDataAbstractTpl<Scalar> Data; \ | ||
| 206 | typedef ConstraintModelAbstractTpl<Scalar> Model; \ | ||
| 207 | typedef Model::DataCollectorAbstract DataCollector; \ | ||
| 208 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 209 | bp::class_<Data, boost::noncopyable>( \ | ||
| 210 | "ConstraintDataAbstract", "Abstract class for constraint data.\n\n", \ | ||
| 211 | bp::init<Model*, DataCollector*>( \ | ||
| 212 | bp::args("self", "model", "data"), \ | ||
| 213 | "Create common data shared between constraint models.\n\n" \ | ||
| 214 | ":param model: constraint model\n" \ | ||
| 215 | ":param data: shared data")[bp::with_custodian_and_ward< \ | ||
| 216 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 217 | .def(ConstraintDataAbstractVisitor<Data>()) \ | ||
| 218 | .def(CopyableVisitor<Data>()); | ||
| 219 | |||
| 220 | ✗ | void exposeConstraintAbstract() { | |
| 221 | #ifdef SCALAR_float64 | ||
| 222 | ✗ | bp::enum_<ConstraintType>("ConstraintType") | |
| 223 | ✗ | .value("Inequality", Inequality) | |
| 224 | ✗ | .value("Equality", Equality) | |
| 225 | ✗ | .value("Both", Both) | |
| 226 | ✗ | .export_values(); | |
| 227 | #endif | ||
| 228 | |||
| 229 | ✗ | CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS(double) | |
| 230 | ✗ | CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS(double) | |
| 231 | ✗ | } | |
| 232 | |||
| 233 | } // namespace python | ||
| 234 | } // namespace crocoddyl | ||
| 235 |