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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 "crocoddyl/core/constraints/constraint-manager.hpp" |
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#include "python/crocoddyl/core/action-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/diff-action-base.hpp" |
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#include "python/crocoddyl/utils/map-converter.hpp" |
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#include "python/crocoddyl/utils/set-converter.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ConstraintItemVisitor |
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: public bp::def_visitor<ConstraintItemVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def_readwrite("name", &Model::name, "constraint name") |
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.add_property( |
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"constraint", |
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bp::make_getter(&Model::constraint, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint model") |
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.def_readwrite("active", &Model::active, "constraint status"); |
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} |
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}; |
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template <typename Model> |
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struct ConstraintModelManagerVisitor |
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: public bp::def_visitor<ConstraintModelManagerVisitor<Model>> { |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( |
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ConstraintModelManager_addConstraint_wrap, Model::addConstraint, 2, 3) |
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typedef typename Model::ConstraintDataManager Data; |
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typedef typename Model::StateAbstract 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.def(bp::init<std::shared_ptr<State>, std::size_t>( |
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bp::args("self", "state", "nu"), |
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"Initialize the total constraint model.\n\n" |
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"For this case the default nu is equals to model.nv.\n" |
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":param state: state description\n" |
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":param nu: dimension of control vector")) |
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.def(bp::init<std::shared_ptr<State>>( |
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bp::args("self", "state"), |
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"Initialize the total constraint model.\n\n" |
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"For this case the default nu is equals to model.nv.\n" |
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":param state: state description")) |
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.def("addConstraint", &Model::addConstraint, |
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ConstraintModelManager_addConstraint_wrap( |
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bp::args("self", "name", "constraint", "active"), |
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"Add a constraint item.\n\n" |
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":param name: constraint name\n" |
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":param constraint: constraint model\n" |
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":param active: True if the constraint is activated (default " |
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"true)")) |
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.def("removeConstraint", &Model::removeConstraint, |
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bp::args("self", "name"), |
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"Remove a constraint item.\n\n" |
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":param name: constraint name") |
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.def("changeConstraintStatus", &Model::changeConstraintStatus, |
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bp::args("self", "name", "active"), |
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"Change the constraint status.\n\n" |
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":param name: constraint name\n" |
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":param active: constraint status (true for active and false for " |
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"inactive)") |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the total constraint.\n\n" |
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":param data: constraint-manager 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 (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calc), |
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bp::args("self", "data", "x"), |
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"Compute the total constraint value for nodes that depends only " |
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"on the state.\n\n" |
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"It updates the total constraint based on the state only. This " |
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"function is used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: constraint-manager data\n" |
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":param x: state point (dim. state.nx)") |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the total constraint.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: constraint-manager 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("calcDiff", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian of the total constraint for nodes that " |
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"depends on the state only.\n\n" |
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"It updates the Jacobian of the total constraint based on the " |
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"state only. This function is used in the terminal nodes of an " |
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"optimal control problem.\n" |
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":param data: constraint-manager 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 total constraint data.\n\n" |
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":param data: shared data\n" |
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":return total constraint data.") |
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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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"constraints", |
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bp::make_function(&Model::get_constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of constraints") |
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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 active inequality constraints") |
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.add_property("nh", bp::make_function(&Model::get_nh), |
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"number of active equality constraints") |
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.add_property("ng_T", bp::make_function(&Model::get_ng_T), |
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"number of active inequality terminal constraints") |
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.add_property("nh_T", bp::make_function(&Model::get_nh_T), |
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"number of active equality terminal constraints") |
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.add_property( |
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"active_set", |
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bp::make_function(&Model::get_active_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"name of the active set of constraint items") |
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.add_property( |
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"inactive_set", |
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bp::make_function(&Model::get_inactive_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"name of the inactive set of constraint items") |
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.add_property("g_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 the inequality constraints") |
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.add_property("g_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 the inequality constraints") |
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.def("getConstraintStatus", &Model::getConstraintStatus, |
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bp::args("self", "name"), |
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"Return the constraint status of a given constraint name.\n\n" |
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":param name: constraint name"); |
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} |
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}; |
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template <typename Data> |
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struct ConstraintDataManagerVisitor |
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: public bp::def_visitor<ConstraintDataManagerVisitor<Data>> { |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resizeConst_wrap, |
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Data::resize, 1, 2) |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resize_wrap, |
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Data::resize, 2, 3) |
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typedef typename Data::Scalar Scalar; |
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typedef ConstraintModelManagerTpl<Scalar> Model; |
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typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModel; |
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typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionData; |
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typedef ActionModelAbstractTpl<Scalar> ActionModel; |
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typedef ActionDataAbstractTpl<Scalar> ActionData; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def( |
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"shareMemory", &Data::template shareMemory<DifferentialActionData>, |
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bp::args("self", "data"), |
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"Share memory with a given differential action data\n\n" |
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":param model: differential action data that we want to share memory") |
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.def("shareMemory", &Data::template shareMemory<ActionData>, |
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bp::args("self", "data"), |
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"Share memory with a given action data\n\n" |
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":param model: action data that we want to share memory") |
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.def("resize", &Data::template resize<Model>, |
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bp::with_custodian_and_ward_postcall<0, 1>(), |
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ConstraintDataManager_resizeConst_wrap( |
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bp::args("self", "model", "running_node"), |
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"Resize the data given differential action data\n\n" |
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":param model: constraint manager model that defines how to " |
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"resize " |
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"the data\n" |
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":param running_node: true if we are resizing for a running " |
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"node, false for terminal ones (default true)")) |
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.def( |
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"resize", |
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&Data::template resize<DifferentialActionModel, |
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DifferentialActionData>, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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ConstraintDataManager_resize_wrap( |
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bp::args("self", "model", "data", "running_node"), |
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"Resize the data given differential action data\n\n" |
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":param model: differential action model that defines how to " |
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"resize " |
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"the data\n" |
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":param data: differential action data that we want to resize\n" |
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":param running_node: true if we are resizing for a running " |
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"node, false for terminal ones (default true)")) |
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.def("resize", &Data::template resize<ActionModel, ActionData>, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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ConstraintDataManager_resize_wrap( |
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bp::args("self", "model", "data", "running_node"), |
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"Resize the data given action data\n\n" |
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":param model: action model that defines how to resize the " |
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"data\n" |
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":param data: action data that we want to resize\n" |
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":param running_node: true if we are resizing for a running " |
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"node, false for terminal ones (default true)")) |
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.add_property( |
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"constraints", |
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bp::make_getter(&Data::constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of constraints data") |
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.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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"g", |
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bp::make_function(&Data::get_g, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_g), "Inequality constraint residual") |
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.add_property( |
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"Gx", |
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bp::make_function(&Data::get_Gx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Gx), |
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"Jacobian of the inequality constraint") |
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.add_property( |
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"Gu", |
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bp::make_function(&Data::get_Gu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Gu), |
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"Jacobian of the inequality constraint") |
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.add_property( |
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"h", |
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bp::make_function(&Data::get_h, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_h), "Equality constraint residual") |
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.add_property( |
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"Hx", |
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bp::make_function(&Data::get_Hx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Hx), |
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"Jacobian of the equality constraint") |
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.add_property( |
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"Hu", |
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bp::make_function(&Data::get_Hu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Hu), |
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"Jacobian of the equality constraint"); |
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} |
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}; |
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#define CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintItemTpl<Scalar> Item; \ |
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typedef Item::ConstraintModelAbstract ConstraintModel; \ |
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typedef std::shared_ptr<Item> ConstraintItemPtr; \ |
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StdMapPythonVisitor< \ |
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std::string, ConstraintItemPtr, std::less<std::string>, \ |
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std::allocator<std::pair<const std::string, ConstraintItemPtr>>, \ |
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true>::expose("StdMap_ConstraintItem"); \ |
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typedef ConstraintDataAbstractTpl<Scalar> ConstraintData; \ |
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typedef std::shared_ptr<ConstraintData> ConstraintDataPtr; \ |
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StdMapPythonVisitor< \ |
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std::string, ConstraintDataPtr, std::less<std::string>, \ |
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std::allocator<std::pair<const std::string, ConstraintDataPtr>>, \ |
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true>::expose("StdMap_ConstraintData"); \ |
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bp::register_ptr_to_python<std::shared_ptr<Item>>(); \ |
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bp::class_<Item>("ConstraintItem", "Describe a constraint item.\n\n", \ |
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bp::init<std::string, std::shared_ptr<ConstraintModel>, \ |
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bp::optional<bool>>( \ |
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bp::args("self", "name", "constraint", "active"), \ |
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"Initialize the constraint item.\n\n" \ |
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":param name: constraint name\n" \ |
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":param constraint: constraint model\n" \ |
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":param active: True if the constraint is activated " \ |
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"(default true)")) \ |
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.def(ConstraintItemVisitor<Item>()) \ |
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.def(CastVisitor<Item>()) \ |
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.def(PrintableVisitor<Item>()) \ |
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.def(CopyableVisitor<Item>()); |
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#define CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintModelManagerTpl<Scalar> Model; \ |
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typedef Model::StateAbstract State; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model>("ConstraintModelManager", \ |
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bp::init<std::shared_ptr<State>, std::size_t>( \ |
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bp::args("self", "state", "nu"), \ |
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"Initialize the total constraint model.\n\n" \ |
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":param state: state description\n" \ |
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":param nu: dimension of control vector")) \ |
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.def(ConstraintModelManagerVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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|
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#define CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintDataManagerTpl<Scalar> Data; \ |
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typedef ConstraintModelManagerTpl<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>( \ |
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"ConstraintDataManager", "Class for total 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 total constraint data.\n\n" \ |
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":param model: total constraint model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward<1, 3>()]) \ |
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.def(ConstraintDataManagerVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeConstraintManager() { |
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CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS(float) |
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CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS(float) |
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CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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