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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
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#include "crocoddyl/core/constraint-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename _Scalar> |
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class ConstraintModelAbstractTpl_wrap |
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: public ConstraintModelAbstractTpl<_Scalar>, |
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public bp::wrapper<ConstraintModelAbstractTpl<_Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ConstraintModelBase, ConstraintModelAbstractTpl_wrap) |
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typedef _Scalar Scalar; |
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typedef typename ScalarSelector<Scalar>::type ScalarType; |
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typedef typename crocoddyl::ConstraintModelAbstractTpl<Scalar> |
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ConstraintModel; |
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typedef typename crocoddyl::ConstraintDataAbstractTpl<Scalar> ConstraintData; |
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typedef typename ConstraintModel::StateAbstract State; |
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typedef typename ConstraintModel::ResidualModelAbstract ResidualModel; |
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typedef typename ConstraintModel::DataCollectorAbstract DataCollector; |
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typedef typename ConstraintModel::VectorXs VectorXs; |
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using ConstraintModel::ng_; |
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using ConstraintModel::nh_; |
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using ConstraintModel::nu_; |
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using ConstraintModel::residual_; |
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using ConstraintModel::state_; |
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using ConstraintModel::T_constraint_; |
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using ConstraintModel::unone_; |
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ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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std::shared_ptr<ResidualModel> residual, |
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const std::size_t ng, const std::size_t nh) |
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: ConstraintModel(state, residual, ng, nh), |
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bp::wrapper<ConstraintModel>() { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t nu, const std::size_t ng, |
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const std::size_t nh, |
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const bool T_const = true) |
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: ConstraintModel(state, nu, ng, nh, T_const), |
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bp::wrapper<ConstraintModel>() { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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ConstraintModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t ng, const std::size_t nh, |
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const bool T_const = true) |
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: ConstraintModel(state, ng, nh, T_const) { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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void calc(const std::shared_ptr<ConstraintData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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} |
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void calcDiff(const std::shared_ptr<ConstraintData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x, (VectorXs)u); |
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} |
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} |
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std::shared_ptr<ConstraintData> createData( |
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DataCollector* const data) override { |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ConstraintData>>(createData.ptr(), |
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boost::ref(data)); |
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} |
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return ConstraintModel::createData(data); |
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} |
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std::shared_ptr<ConstraintData> default_createData( |
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DataCollector* const data) { |
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return this->ConstraintModel::createData(data); |
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} |
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template <typename NewScalar> |
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ConstraintModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef ConstraintModelAbstractTpl_wrap<NewScalar> ReturnType; |
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if (residual_) { |
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ReturnType ret(state_->template cast<NewScalar>(), |
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residual_->template cast<NewScalar>(), ng_, nh_); |
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return ret; |
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} else { |
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ReturnType ret(state_->template cast<NewScalar>(), nu_, ng_, nh_, |
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T_constraint_); |
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return ret; |
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} |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ |
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