| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | #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 "python/crocoddyl/core/core.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename _Scalar> | ||
| 19 | class ConstraintModelAbstractTpl_wrap | ||
| 20 | : public ConstraintModelAbstractTpl<_Scalar>, | ||
| 21 | public bp::wrapper<ConstraintModelAbstractTpl<_Scalar>> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | ✗ | CROCODDYL_DERIVED_CAST(ConstraintModelBase, ConstraintModelAbstractTpl_wrap) | |
| 25 | |||
| 26 | typedef _Scalar Scalar; | ||
| 27 | typedef typename ScalarSelector<Scalar>::type ScalarType; | ||
| 28 | typedef typename crocoddyl::ConstraintModelAbstractTpl<Scalar> | ||
| 29 | ConstraintModel; | ||
| 30 | typedef typename crocoddyl::ConstraintDataAbstractTpl<Scalar> ConstraintData; | ||
| 31 | typedef typename ConstraintModel::StateAbstract State; | ||
| 32 | typedef typename ConstraintModel::ResidualModelAbstract ResidualModel; | ||
| 33 | typedef typename ConstraintModel::DataCollectorAbstract DataCollector; | ||
| 34 | typedef typename ConstraintModel::VectorXs VectorXs; | ||
| 35 | using ConstraintModel::ng_; | ||
| 36 | using ConstraintModel::nh_; | ||
| 37 | using ConstraintModel::nu_; | ||
| 38 | using ConstraintModel::residual_; | ||
| 39 | using ConstraintModel::state_; | ||
| 40 | using ConstraintModel::T_constraint_; | ||
| 41 | using ConstraintModel::unone_; | ||
| 42 | |||
| 43 | ✗ | ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 44 | std::shared_ptr<ResidualModel> residual, | ||
| 45 | const std::size_t ng, const std::size_t nh) | ||
| 46 | : ConstraintModel(state, residual, ng, nh), | ||
| 47 | ✗ | bp::wrapper<ConstraintModel>() { | |
| 48 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 49 | ✗ | } | |
| 50 | |||
| 51 | ✗ | ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 52 | const std::size_t nu, const std::size_t ng, | ||
| 53 | const std::size_t nh, | ||
| 54 | const bool T_const = true) | ||
| 55 | : ConstraintModel(state, nu, ng, nh, T_const), | ||
| 56 | ✗ | bp::wrapper<ConstraintModel>() { | |
| 57 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 58 | ✗ | } | |
| 59 | |||
| 60 | ✗ | ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 61 | const std::size_t ng, const std::size_t nh, | ||
| 62 | const bool T_const = true) | ||
| 63 | ✗ | : ConstraintModel(state, ng, nh, T_const) { | |
| 64 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 65 | ✗ | } | |
| 66 | |||
| 67 | ✗ | void calc(const std::shared_ptr<ConstraintData>& data, | |
| 68 | const Eigen::Ref<const VectorXs>& x, | ||
| 69 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 70 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 71 | ✗ | throw_pretty( | |
| 72 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 73 | std::to_string(state_->get_nx()) + ")"); | ||
| 74 | } | ||
| 75 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 76 | ✗ | throw_pretty( | |
| 77 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 78 | std::to_string(nu_) + ")"); | ||
| 79 | } | ||
| 80 | ✗ | if (std::isnan( | |
| 81 | ✗ | scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { | |
| 82 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, | |
| 83 | ✗ | (VectorXs)x); | |
| 84 | } else { | ||
| 85 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, | |
| 86 | ✗ | (VectorXs)u); | |
| 87 | } | ||
| 88 | } | ||
| 89 | |||
| 90 | ✗ | void calcDiff(const std::shared_ptr<ConstraintData>& data, | |
| 91 | const Eigen::Ref<const VectorXs>& x, | ||
| 92 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 93 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 94 | ✗ | throw_pretty( | |
| 95 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 96 | std::to_string(state_->get_nx()) + ")"); | ||
| 97 | } | ||
| 98 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 99 | ✗ | throw_pretty( | |
| 100 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 101 | std::to_string(nu_) + ")"); | ||
| 102 | } | ||
| 103 | ✗ | if (std::isnan( | |
| 104 | ✗ | scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { | |
| 105 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 106 | ✗ | (VectorXs)x); | |
| 107 | } else { | ||
| 108 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 109 | ✗ | (VectorXs)x, (VectorXs)u); | |
| 110 | } | ||
| 111 | } | ||
| 112 | |||
| 113 | ✗ | std::shared_ptr<ConstraintData> createData( | |
| 114 | DataCollector* const data) override { | ||
| 115 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 116 | return bp::call<std::shared_ptr<ConstraintData>>(createData.ptr(), | ||
| 117 | ✗ | boost::ref(data)); | |
| 118 | } | ||
| 119 | ✗ | return ConstraintModel::createData(data); | |
| 120 | } | ||
| 121 | |||
| 122 | ✗ | std::shared_ptr<ConstraintData> default_createData( | |
| 123 | DataCollector* const data) { | ||
| 124 | ✗ | return this->ConstraintModel::createData(data); | |
| 125 | } | ||
| 126 | |||
| 127 | template <typename NewScalar> | ||
| 128 | ✗ | ConstraintModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 129 | typedef ConstraintModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 130 | ✗ | if (residual_) { | |
| 131 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 132 | ✗ | residual_->template cast<NewScalar>(), ng_, nh_); | |
| 133 | ✗ | return ret; | |
| 134 | ✗ | } else { | |
| 135 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), nu_, ng_, nh_, | |
| 136 | ✗ | T_constraint_); | |
| 137 | ✗ | return ret; | |
| 138 | ✗ | } | |
| 139 | } | ||
| 140 | }; | ||
| 141 | |||
| 142 | } // namespace python | ||
| 143 | } // namespace crocoddyl | ||
| 144 | |||
| 145 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ | ||
| 146 |