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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 "crocoddyl/core/constraints/constraint-manager.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/action-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 15 | #include "python/crocoddyl/utils/map-converter.hpp" | ||
| 16 | #include "python/crocoddyl/utils/set-converter.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace python { | ||
| 20 | |||
| 21 | template <typename Model> | ||
| 22 | struct ConstraintItemVisitor | ||
| 23 | : public bp::def_visitor<ConstraintItemVisitor<Model>> { | ||
| 24 | template <class PyClass> | ||
| 25 | ✗ | void visit(PyClass& cl) const { | |
| 26 | ✗ | cl.def_readwrite("name", &Model::name, "constraint name") | |
| 27 | ✗ | .add_property( | |
| 28 | "constraint", | ||
| 29 | ✗ | bp::make_getter(&Model::constraint, | |
| 30 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 31 | "constraint model") | ||
| 32 | ✗ | .def_readwrite("active", &Model::active, "constraint status"); | |
| 33 | ✗ | } | |
| 34 | }; | ||
| 35 | |||
| 36 | template <typename Model> | ||
| 37 | struct ConstraintModelManagerVisitor | ||
| 38 | : public bp::def_visitor<ConstraintModelManagerVisitor<Model>> { | ||
| 39 | ✗ | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( | |
| 40 | ConstraintModelManager_addConstraint_wrap, Model::addConstraint, 2, 3) | ||
| 41 | typedef typename Model::ConstraintDataManager Data; | ||
| 42 | typedef typename Model::StateAbstract State; | ||
| 43 | typedef typename Model::VectorXs VectorXs; | ||
| 44 | template <class PyClass> | ||
| 45 | ✗ | void visit(PyClass& cl) const { | |
| 46 | ✗ | cl.def(bp::init<std::shared_ptr<State>, std::size_t>( | |
| 47 | bp::args("self", "state", "nu"), | ||
| 48 | "Initialize the total constraint model.\n\n" | ||
| 49 | "For this case the default nu is equals to model.nv.\n" | ||
| 50 | ":param state: state description\n" | ||
| 51 | ":param nu: dimension of control vector")) | ||
| 52 | ✗ | .def(bp::init<std::shared_ptr<State>>( | |
| 53 | bp::args("self", "state"), | ||
| 54 | "Initialize the total constraint model.\n\n" | ||
| 55 | "For this case the default nu is equals to model.nv.\n" | ||
| 56 | ":param state: state description")) | ||
| 57 | ✗ | .def("addConstraint", &Model::addConstraint, | |
| 58 | ✗ | ConstraintModelManager_addConstraint_wrap( | |
| 59 | bp::args("self", "name", "constraint", "active"), | ||
| 60 | "Add a constraint item.\n\n" | ||
| 61 | ":param name: constraint name\n" | ||
| 62 | ":param constraint: constraint model\n" | ||
| 63 | ":param active: True if the constraint is activated (default " | ||
| 64 | "true)")) | ||
| 65 | ✗ | .def("removeConstraint", &Model::removeConstraint, | |
| 66 | bp::args("self", "name"), | ||
| 67 | "Remove a constraint item.\n\n" | ||
| 68 | ":param name: constraint name") | ||
| 69 | ✗ | .def("changeConstraintStatus", &Model::changeConstraintStatus, | |
| 70 | bp::args("self", "name", "active"), | ||
| 71 | "Change the constraint status.\n\n" | ||
| 72 | ":param name: constraint name\n" | ||
| 73 | ":param active: constraint status (true for active and false for " | ||
| 74 | "inactive)") | ||
| 75 | ✗ | .def( | |
| 76 | "calc", | ||
| 77 | static_cast<void (Model::*)( | ||
| 78 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 79 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 80 | bp::args("self", "data", "x", "u"), | ||
| 81 | "Compute the total constraint.\n\n" | ||
| 82 | ":param data: constraint-manager data\n" | ||
| 83 | ":param x: state point (dim. state.nx)\n" | ||
| 84 | ":param u: control input (dim. nu)") | ||
| 85 | ✗ | .def("calc", | |
| 86 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 87 | const Eigen::Ref<const VectorXs>&)>( | ||
| 88 | &Model::calc), | ||
| 89 | bp::args("self", "data", "x"), | ||
| 90 | "Compute the total constraint value for nodes that depends only " | ||
| 91 | "on the state.\n\n" | ||
| 92 | "It updates the total constraint based on the state only. This " | ||
| 93 | "function is used in the terminal nodes of an optimal control " | ||
| 94 | "problem.\n" | ||
| 95 | ":param data: constraint-manager data\n" | ||
| 96 | ":param x: state point (dim. state.nx)") | ||
| 97 | ✗ | .def( | |
| 98 | "calcDiff", | ||
| 99 | static_cast<void (Model::*)( | ||
| 100 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 101 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 102 | bp::args("self", "data", "x", "u"), | ||
| 103 | "Compute the derivatives of the total constraint.\n\n" | ||
| 104 | "It assumes that calc has been run first.\n" | ||
| 105 | ":param data: constraint-manager data\n" | ||
| 106 | ":param x: state point (dim. state.nx)\n" | ||
| 107 | ":param u: control input (dim. nu)\n") | ||
| 108 | ✗ | .def("calcDiff", | |
| 109 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 110 | const Eigen::Ref<const VectorXs>&)>( | ||
| 111 | &Model::calcDiff), | ||
| 112 | bp::args("self", "data", "x"), | ||
| 113 | "Compute the Jacobian of the total constraint for nodes that " | ||
| 114 | "depends on the state only.\n\n" | ||
| 115 | "It updates the Jacobian of the total constraint based on the " | ||
| 116 | "state only. This function is used in the terminal nodes of an " | ||
| 117 | "optimal control problem.\n" | ||
| 118 | ":param data: constraint-manager data\n" | ||
| 119 | ":param x: state point (dim. state.nx)") | ||
| 120 | ✗ | .def("createData", &Model::createData, | |
| 121 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 122 | bp::args("self", "data"), | ||
| 123 | "Create the total constraint data.\n\n" | ||
| 124 | ":param data: shared data\n" | ||
| 125 | ":return total constraint data.") | ||
| 126 | ✗ | .add_property( | |
| 127 | "state", | ||
| 128 | bp::make_function(&Model::get_state, | ||
| 129 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 130 | "state description") | ||
| 131 | ✗ | .add_property( | |
| 132 | "constraints", | ||
| 133 | bp::make_function(&Model::get_constraints, | ||
| 134 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 135 | "stack of constraints") | ||
| 136 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 137 | "dimension of control vector") | ||
| 138 | ✗ | .add_property("ng", bp::make_function(&Model::get_ng), | |
| 139 | "number of active inequality constraints") | ||
| 140 | ✗ | .add_property("nh", bp::make_function(&Model::get_nh), | |
| 141 | "number of active equality constraints") | ||
| 142 | ✗ | .add_property("ng_T", bp::make_function(&Model::get_ng_T), | |
| 143 | "number of active inequality terminal constraints") | ||
| 144 | ✗ | .add_property("nh_T", bp::make_function(&Model::get_nh_T), | |
| 145 | "number of active equality terminal constraints") | ||
| 146 | ✗ | .add_property( | |
| 147 | "active_set", | ||
| 148 | bp::make_function(&Model::get_active_set, | ||
| 149 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 150 | "name of the active set of constraint items") | ||
| 151 | ✗ | .add_property( | |
| 152 | "inactive_set", | ||
| 153 | bp::make_function(&Model::get_inactive_set, | ||
| 154 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 155 | "name of the inactive set of constraint items") | ||
| 156 | ✗ | .add_property("g_lb", | |
| 157 | bp::make_function(&Model::get_lb, | ||
| 158 | ✗ | bp::return_internal_reference<>()), | |
| 159 | "lower bound of the inequality constraints") | ||
| 160 | ✗ | .add_property("g_ub", | |
| 161 | bp::make_function(&Model::get_ub, | ||
| 162 | ✗ | bp::return_internal_reference<>()), | |
| 163 | "upper bound of the inequality constraints") | ||
| 164 | ✗ | .def("getConstraintStatus", &Model::getConstraintStatus, | |
| 165 | bp::args("self", "name"), | ||
| 166 | "Return the constraint status of a given constraint name.\n\n" | ||
| 167 | ":param name: constraint name"); | ||
| 168 | ✗ | } | |
| 169 | }; | ||
| 170 | |||
| 171 | template <typename Data> | ||
| 172 | struct ConstraintDataManagerVisitor | ||
| 173 | : public bp::def_visitor<ConstraintDataManagerVisitor<Data>> { | ||
| 174 | ✗ | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resizeConst_wrap, | |
| 175 | Data::resize, 1, 2) | ||
| 176 | ✗ | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resize_wrap, | |
| 177 | Data::resize, 2, 3) | ||
| 178 | typedef typename Data::Scalar Scalar; | ||
| 179 | typedef ConstraintModelManagerTpl<Scalar> Model; | ||
| 180 | typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModel; | ||
| 181 | typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionData; | ||
| 182 | typedef ActionModelAbstractTpl<Scalar> ActionModel; | ||
| 183 | typedef ActionDataAbstractTpl<Scalar> ActionData; | ||
| 184 | template <class PyClass> | ||
| 185 | ✗ | void visit(PyClass& cl) const { | |
| 186 | ✗ | cl.def( | |
| 187 | "shareMemory", &Data::template shareMemory<DifferentialActionData>, | ||
| 188 | bp::args("self", "data"), | ||
| 189 | "Share memory with a given differential action data\n\n" | ||
| 190 | ":param model: differential action data that we want to share memory") | ||
| 191 | ✗ | .def("shareMemory", &Data::template shareMemory<ActionData>, | |
| 192 | bp::args("self", "data"), | ||
| 193 | "Share memory with a given action data\n\n" | ||
| 194 | ":param model: action data that we want to share memory") | ||
| 195 | ✗ | .def("resize", &Data::template resize<Model>, | |
| 196 | ✗ | bp::with_custodian_and_ward_postcall<0, 1>(), | |
| 197 | ✗ | ConstraintDataManager_resizeConst_wrap( | |
| 198 | bp::args("self", "model", "running_node"), | ||
| 199 | "Resize the data given differential action data\n\n" | ||
| 200 | ":param model: constraint manager model that defines how to " | ||
| 201 | "resize " | ||
| 202 | "the data\n" | ||
| 203 | ":param running_node: true if we are resizing for a running " | ||
| 204 | "node, false for terminal ones (default true)")) | ||
| 205 | ✗ | .def( | |
| 206 | "resize", | ||
| 207 | &Data::template resize<DifferentialActionModel, | ||
| 208 | DifferentialActionData>, | ||
| 209 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 210 | ✗ | ConstraintDataManager_resize_wrap( | |
| 211 | bp::args("self", "model", "data", "running_node"), | ||
| 212 | "Resize the data given differential action data\n\n" | ||
| 213 | ":param model: differential action model that defines how to " | ||
| 214 | "resize " | ||
| 215 | "the data\n" | ||
| 216 | ":param data: differential action data that we want to resize\n" | ||
| 217 | ":param running_node: true if we are resizing for a running " | ||
| 218 | "node, false for terminal ones (default true)")) | ||
| 219 | ✗ | .def("resize", &Data::template resize<ActionModel, ActionData>, | |
| 220 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 221 | ✗ | ConstraintDataManager_resize_wrap( | |
| 222 | bp::args("self", "model", "data", "running_node"), | ||
| 223 | "Resize the data given action data\n\n" | ||
| 224 | ":param model: action model that defines how to resize the " | ||
| 225 | "data\n" | ||
| 226 | ":param data: action data that we want to resize\n" | ||
| 227 | ":param running_node: true if we are resizing for a running " | ||
| 228 | "node, false for terminal ones (default true)")) | ||
| 229 | ✗ | .add_property( | |
| 230 | "constraints", | ||
| 231 | ✗ | bp::make_getter(&Data::constraints, | |
| 232 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 233 | "stack of constraints data") | ||
| 234 | ✗ | .add_property( | |
| 235 | "shared", | ||
| 236 | ✗ | bp::make_getter(&Data::shared, bp::return_internal_reference<>()), | |
| 237 | "shared data") | ||
| 238 | ✗ | .add_property( | |
| 239 | "g", | ||
| 240 | bp::make_function(&Data::get_g, | ||
| 241 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 242 | bp::make_function(&Data::set_g), "Inequality constraint residual") | ||
| 243 | ✗ | .add_property( | |
| 244 | "Gx", | ||
| 245 | bp::make_function(&Data::get_Gx, | ||
| 246 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 247 | bp::make_function(&Data::set_Gx), | ||
| 248 | "Jacobian of the inequality constraint") | ||
| 249 | ✗ | .add_property( | |
| 250 | "Gu", | ||
| 251 | bp::make_function(&Data::get_Gu, | ||
| 252 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 253 | bp::make_function(&Data::set_Gu), | ||
| 254 | "Jacobian of the inequality constraint") | ||
| 255 | ✗ | .add_property( | |
| 256 | "h", | ||
| 257 | bp::make_function(&Data::get_h, | ||
| 258 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 259 | bp::make_function(&Data::set_h), "Equality constraint residual") | ||
| 260 | ✗ | .add_property( | |
| 261 | "Hx", | ||
| 262 | bp::make_function(&Data::get_Hx, | ||
| 263 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 264 | bp::make_function(&Data::set_Hx), | ||
| 265 | "Jacobian of the equality constraint") | ||
| 266 | ✗ | .add_property( | |
| 267 | "Hu", | ||
| 268 | bp::make_function(&Data::get_Hu, | ||
| 269 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 270 | bp::make_function(&Data::set_Hu), | ||
| 271 | "Jacobian of the equality constraint"); | ||
| 272 | ✗ | } | |
| 273 | }; | ||
| 274 | |||
| 275 | #define CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS(Scalar) \ | ||
| 276 | typedef ConstraintItemTpl<Scalar> Item; \ | ||
| 277 | typedef Item::ConstraintModelAbstract ConstraintModel; \ | ||
| 278 | typedef std::shared_ptr<Item> ConstraintItemPtr; \ | ||
| 279 | StdMapPythonVisitor< \ | ||
| 280 | std::string, ConstraintItemPtr, std::less<std::string>, \ | ||
| 281 | std::allocator<std::pair<const std::string, ConstraintItemPtr>>, \ | ||
| 282 | true>::expose("StdMap_ConstraintItem"); \ | ||
| 283 | typedef ConstraintDataAbstractTpl<Scalar> ConstraintData; \ | ||
| 284 | typedef std::shared_ptr<ConstraintData> ConstraintDataPtr; \ | ||
| 285 | StdMapPythonVisitor< \ | ||
| 286 | std::string, ConstraintDataPtr, std::less<std::string>, \ | ||
| 287 | std::allocator<std::pair<const std::string, ConstraintDataPtr>>, \ | ||
| 288 | true>::expose("StdMap_ConstraintData"); \ | ||
| 289 | bp::register_ptr_to_python<std::shared_ptr<Item>>(); \ | ||
| 290 | bp::class_<Item>("ConstraintItem", "Describe a constraint item.\n\n", \ | ||
| 291 | bp::init<std::string, std::shared_ptr<ConstraintModel>, \ | ||
| 292 | bp::optional<bool>>( \ | ||
| 293 | bp::args("self", "name", "constraint", "active"), \ | ||
| 294 | "Initialize the constraint item.\n\n" \ | ||
| 295 | ":param name: constraint name\n" \ | ||
| 296 | ":param constraint: constraint model\n" \ | ||
| 297 | ":param active: True if the constraint is activated " \ | ||
| 298 | "(default true)")) \ | ||
| 299 | .def(ConstraintItemVisitor<Item>()) \ | ||
| 300 | .def(CastVisitor<Item>()) \ | ||
| 301 | .def(PrintableVisitor<Item>()) \ | ||
| 302 | .def(CopyableVisitor<Item>()); | ||
| 303 | |||
| 304 | #define CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS(Scalar) \ | ||
| 305 | typedef ConstraintModelManagerTpl<Scalar> Model; \ | ||
| 306 | typedef Model::StateAbstract State; \ | ||
| 307 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 308 | bp::class_<Model>("ConstraintModelManager", \ | ||
| 309 | bp::init<std::shared_ptr<State>, std::size_t>( \ | ||
| 310 | bp::args("self", "state", "nu"), \ | ||
| 311 | "Initialize the total constraint model.\n\n" \ | ||
| 312 | ":param state: state description\n" \ | ||
| 313 | ":param nu: dimension of control vector")) \ | ||
| 314 | .def(ConstraintModelManagerVisitor<Model>()) \ | ||
| 315 | .def(CastVisitor<Model>()) \ | ||
| 316 | .def(PrintableVisitor<Model>()) \ | ||
| 317 | .def(CopyableVisitor<Model>()); | ||
| 318 | |||
| 319 | #define CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS(Scalar) \ | ||
| 320 | typedef ConstraintDataManagerTpl<Scalar> Data; \ | ||
| 321 | typedef ConstraintModelManagerTpl<Scalar> Model; \ | ||
| 322 | typedef Model::DataCollectorAbstract DataCollector; \ | ||
| 323 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 324 | bp::class_<Data>( \ | ||
| 325 | "ConstraintDataManager", "Class for total constraint data.\n\n", \ | ||
| 326 | bp::init<Model*, DataCollector*>( \ | ||
| 327 | bp::args("self", "model", "data"), \ | ||
| 328 | "Create total constraint data.\n\n" \ | ||
| 329 | ":param model: total constraint model\n" \ | ||
| 330 | ":param data: shared data")[bp::with_custodian_and_ward<1, 3>()]) \ | ||
| 331 | .def(ConstraintDataManagerVisitor<Data>()) \ | ||
| 332 | .def(CopyableVisitor<Data>()); | ||
| 333 | |||
| 334 | ✗ | void exposeConstraintManager() { | |
| 335 | ✗ | CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS(double) | |
| 336 | ✗ | CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS(double) | |
| 337 | ✗ | CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS(double) | |
| 338 | ✗ | } | |
| 339 | |||
| 340 | } // namespace python | ||
| 341 | } // namespace crocoddyl | ||
| 342 |