| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
| 10 |
|
|
#define BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
| 11 |
|
|
|
| 12 |
|
|
#include "crocoddyl/core/constraint-base.hpp" |
| 13 |
|
|
#include "crocoddyl/core/utils/exception.hpp" |
| 14 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 15 |
|
|
|
| 16 |
|
|
namespace crocoddyl { |
| 17 |
|
|
namespace python { |
| 18 |
|
|
|
| 19 |
|
|
class ConstraintModelAbstract_wrap |
| 20 |
|
|
: public ConstraintModelAbstract, |
| 21 |
|
|
public bp::wrapper<ConstraintModelAbstract> { |
| 22 |
|
|
public: |
| 23 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 24 |
|
|
using ConstraintModelAbstract::nu_; |
| 25 |
|
|
using ConstraintModelAbstract::unone_; |
| 26 |
|
|
|
| 27 |
|
✗ |
ConstraintModelAbstract_wrap( |
| 28 |
|
|
boost::shared_ptr<StateAbstract> state, |
| 29 |
|
|
boost::shared_ptr<ResidualModelAbstract> residual, const std::size_t ng, |
| 30 |
|
|
const std::size_t nh) |
| 31 |
|
✗ |
: ConstraintModelAbstract(state, residual, ng, nh), |
| 32 |
|
✗ |
bp::wrapper<ConstraintModelAbstract>() { |
| 33 |
|
✗ |
unone_ = NAN * MathBase::VectorXs::Ones(nu_); |
| 34 |
|
|
} |
| 35 |
|
|
|
| 36 |
|
✗ |
ConstraintModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
| 37 |
|
|
const std::size_t nu, const std::size_t ng, |
| 38 |
|
|
const std::size_t nh, const bool T_const = true) |
| 39 |
|
✗ |
: ConstraintModelAbstract(state, nu, ng, nh, T_const), |
| 40 |
|
✗ |
bp::wrapper<ConstraintModelAbstract>() { |
| 41 |
|
✗ |
unone_ = NAN * MathBase::VectorXs::Ones(nu); |
| 42 |
|
|
} |
| 43 |
|
|
|
| 44 |
|
✗ |
ConstraintModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
| 45 |
|
|
const std::size_t ng, const std::size_t nh, |
| 46 |
|
|
const bool T_const = true) |
| 47 |
|
✗ |
: ConstraintModelAbstract(state, ng, nh, T_const) { |
| 48 |
|
✗ |
unone_ = NAN * MathBase::VectorXs::Ones(nu_); |
| 49 |
|
|
} |
| 50 |
|
|
|
| 51 |
|
✗ |
void calc(const boost::shared_ptr<ConstraintDataAbstract>& data, |
| 52 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x, |
| 53 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& u) { |
| 54 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 55 |
|
✗ |
throw_pretty( |
| 56 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 57 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 58 |
|
|
} |
| 59 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 60 |
|
✗ |
throw_pretty( |
| 61 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 62 |
|
|
std::to_string(nu_) + ")"); |
| 63 |
|
|
} |
| 64 |
|
✗ |
if (std::isnan(u.lpNorm<Eigen::Infinity>())) { |
| 65 |
|
✗ |
return bp::call<void>(this->get_override("calc").ptr(), data, |
| 66 |
|
✗ |
(Eigen::VectorXd)x); |
| 67 |
|
|
} else { |
| 68 |
|
✗ |
return bp::call<void>(this->get_override("calc").ptr(), data, |
| 69 |
|
✗ |
(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
| 70 |
|
|
} |
| 71 |
|
|
} |
| 72 |
|
|
|
| 73 |
|
✗ |
void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data, |
| 74 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& x, |
| 75 |
|
|
const Eigen::Ref<const Eigen::VectorXd>& u) { |
| 76 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 77 |
|
✗ |
throw_pretty( |
| 78 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 79 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 80 |
|
|
} |
| 81 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 82 |
|
✗ |
throw_pretty( |
| 83 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 84 |
|
|
std::to_string(nu_) + ")"); |
| 85 |
|
|
} |
| 86 |
|
✗ |
if (std::isnan(u.lpNorm<Eigen::Infinity>())) { |
| 87 |
|
✗ |
return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
| 88 |
|
✗ |
(Eigen::VectorXd)x); |
| 89 |
|
|
} else { |
| 90 |
|
✗ |
return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
| 91 |
|
✗ |
(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
| 92 |
|
|
} |
| 93 |
|
|
} |
| 94 |
|
|
|
| 95 |
|
✗ |
boost::shared_ptr<ConstraintDataAbstract> createData( |
| 96 |
|
|
DataCollectorAbstract* const data) { |
| 97 |
|
✗ |
if (boost::python::override createData = this->get_override("createData")) { |
| 98 |
|
|
return bp::call<boost::shared_ptr<ConstraintDataAbstract> >( |
| 99 |
|
✗ |
createData.ptr(), boost::ref(data)); |
| 100 |
|
|
} |
| 101 |
|
✗ |
return ConstraintModelAbstract::createData(data); |
| 102 |
|
|
} |
| 103 |
|
|
|
| 104 |
|
✗ |
boost::shared_ptr<ConstraintDataAbstract> default_createData( |
| 105 |
|
|
DataCollectorAbstract* const data) { |
| 106 |
|
✗ |
return this->ConstraintModelAbstract::createData(data); |
| 107 |
|
|
} |
| 108 |
|
|
}; |
| 109 |
|
|
|
| 110 |
|
|
} // namespace python |
| 111 |
|
|
} // namespace crocoddyl |
| 112 |
|
|
|
| 113 |
|
|
#endif // BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
| 114 |
|
|
|