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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, 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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// Auto-generated file for float |
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#include "python/crocoddyl/core/constraint-base.hpp" |
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#define SCALAR_float32 |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ConstraintModelAbstractVisitor |
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: public bp::def_visitor<ConstraintModelAbstractVisitor<Model>> { |
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typedef typename Model::ConstraintModel ConstraintModel; |
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typedef typename Model::ConstraintData ConstraintData; |
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typedef typename Model::State State; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl |
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.def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t, |
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std::size_t, bp::optional<bool>>( |
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bp::args("self", "state", "nu", "ng", "nh", "T_const"), |
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"Initialize the constraint model.\n\n" |
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":param state: state description\n" |
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":param nu: dimension of control vector (default state.nv)\n" |
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":param ng: number of inequality constraints\n" |
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":param nh: number of equality constraints\n" |
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":param T_const: True if this is a constraint in both running and " |
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"terminal nodes.\n" |
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" False if it is a constraint on running nodes only " |
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"(default true)")) |
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.def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t, |
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bp::optional<bool>>( |
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bp::args("self", "state", "ng", "nh", "T_const"), |
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"Initialize the constraint model.\n\n" |
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":param state: state description\n" |
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":param ng: number of inequality constraints\n" |
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":param nh: number of equality constraints\n" |
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":param T_const: True if this is a constraint in both running and " |
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"terminal nodes.\n" |
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" False if it is a constraint on running nodes only " |
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"(default true)")) |
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.def("calc", pure_virtual(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the constraint value.\n\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def("calc", |
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static_cast<void (ConstraintModel::*)( |
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const std::shared_ptr<ConstraintData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calc), |
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bp::args("self", "data", "x"), |
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"Compute the constraint value for nodes that depends only on the " |
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"state.\n\n" |
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"It updates the constraint based on the state only.\n" |
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"This function is commonly used in the terminal nodes of an " |
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"optimal " |
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"control problem.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the constraint function.\n\n" |
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"It computes the Jacobians of the constraint function.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)\n") |
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.def( |
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"calcDiff", |
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static_cast<void (ConstraintModel::*)( |
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const std::shared_ptr<ConstraintData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian of the constraint with respect to the state " |
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"only.\n\n" |
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"It computes the Jacobian of the constraint function based on the " |
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"state only.\n" |
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"This function is commonly used in the terminal nodes of an " |
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"optimal " |
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"control problem.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &Model::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 constraint data.\n\n" |
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"Each constraint model has its own data that needs to be " |
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"allocated. " |
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"This function\n" |
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"returns the allocated data for a predefined constraint.\n" |
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":param data: shared data\n" |
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":return constraint data.") |
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.def("createData", &Model::default_createData, |
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bp::with_custodian_and_ward_postcall<0, 2>()) |
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.def("updateBounds", &Model::update_bounds, |
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bp::args("self", "lower", "upper"), |
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"Update the lower and upper bounds.\n\n" |
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":param lower: lower bound\n" |
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":param upper: upper bound") |
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.def("removeBounds", &Model::remove_bounds, bp::args("self"), |
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"Remove the bounds.") |
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.add_property( |
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"state", |
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bp::make_function(&Model::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state description") |
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.add_property( |
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"residual", |
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bp::make_function(&Model::get_residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual model") |
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.add_property("type", bp::make_function(&Model::get_type), |
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"type of constraint") |
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.add_property("lb", |
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bp::make_function(&Model::get_lb, |
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bp::return_internal_reference<>()), |
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"lower bound of constraint") |
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.add_property("ub", |
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bp::make_function(&Model::get_ub, |
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bp::return_internal_reference<>()), |
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"upper bound of constraint") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of control vector") |
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.add_property("ng", bp::make_function(&Model::get_ng), |
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"number of inequality constraints") |
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.add_property("nh", bp::make_function(&Model::get_nh), |
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"number of equality constraints") |
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.add_property( |
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"T_constraint", bp::make_function(&Model::get_T_constraint), |
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"True if the constraint is imposed in terminal nodes as well"); |
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} |
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}; |
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template <typename Data> |
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struct ConstraintDataAbstractVisitor |
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: public bp::def_visitor<ConstraintDataAbstractVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"shared", |
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bp::make_getter(&Data::shared, bp::return_internal_reference<>()), |
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"shared data") |
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.add_property( |
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"residual", |
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bp::make_getter(&Data::residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual data") |
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.add_property( |
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"g", bp::make_getter(&Data::g, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::g), "inequality constraint residual") |
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.add_property( |
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"Gx", bp::make_getter(&Data::Gx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Gx), "Jacobian of the inequality constraint") |
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.add_property( |
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"Gu", bp::make_getter(&Data::Gu, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Gu), "Jacobian of the inequality constraint") |
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.add_property( |
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"h", bp::make_getter(&Data::h, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::h), "equality constraint residual") |
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.add_property( |
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"Hx", bp::make_getter(&Data::Hx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Hx), "Jacobian of the equality constraint") |
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.add_property( |
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"Hu", bp::make_getter(&Data::Hu, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Hu), "Jacobian of the equality constraint"); |
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} |
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}; |
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#define CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintModelAbstractTpl<Scalar> Model; \ |
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typedef ConstraintModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef StateAbstractTpl<Scalar> State; \ |
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typedef Model::ResidualModelAbstract ResidualModel; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ConstraintModelAbstract", \ |
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"Abstract multibody constraint models.\n\n" \ |
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"A constraint model defines both: inequality g(x,u) and equality h(x, " \ |
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"u) constraints. The constraint function depends on the state point x, " \ |
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"which lies in the state manifold described with a nx-tuple, its " \ |
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"velocity xd that belongs to the tangent space with ndx dimension, and " \ |
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"the control input u.", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>, \ |
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std::size_t, std::size_t>( \ |
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bp::args("self", "state", "residual", "ng", "nh"), \ |
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"Initialize the constraint model.\n\n" \ |
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":param state: state description\n" \ |
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":param residual: residual model\n" \ |
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":param ng: number of inequality constraints\n" \ |
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":param nh: number of equality constraints")) \ |
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.def(ConstraintModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintDataAbstractTpl<Scalar> Data; \ |
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typedef ConstraintModelAbstractTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, boost::noncopyable>( \ |
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"ConstraintDataAbstract", "Abstract class for constraint data.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between constraint models.\n\n" \ |
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":param model: constraint model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ConstraintDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeConstraintAbstract() { |
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#ifdef SCALAR_float64 |
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bp::enum_<ConstraintType>("ConstraintType") |
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.value("Inequality", Inequality) |
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.value("Equality", Equality) |
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.value("Both", Both) |
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.export_values(); |
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#endif |
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CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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