| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh |
| 5 |
|
|
// Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
// Auto-generated file for double |
| 11 |
|
|
#include "crocoddyl/multibody/contacts/contact-2d.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace python { |
| 17 |
|
|
|
| 18 |
|
|
template <typename Model> |
| 19 |
|
|
struct ContactModel2DVisitor |
| 20 |
|
|
: public bp::def_visitor<ContactModel2DVisitor<Model>> { |
| 21 |
|
|
typedef typename Model::StateMultibody State; |
| 22 |
|
|
typedef typename Model::Vector2s Vector2s; |
| 23 |
|
|
template <class PyClass> |
| 24 |
|
✗ |
void visit(PyClass& cl) const { |
| 25 |
|
✗ |
cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector2s, |
| 26 |
|
|
bp::optional<Vector2s>>( |
| 27 |
|
|
bp::args("self", "state", "id", "xref", "gains"), |
| 28 |
|
|
"Initialize the contact model.\n\n" |
| 29 |
|
|
":param state: state of the multibody system\n" |
| 30 |
|
|
":param id: reference frame id of the contact\n" |
| 31 |
|
|
":param xref: contact position used for the Baumgarte " |
| 32 |
|
|
"stabilization\n" |
| 33 |
|
|
":param gains: gains of the contact model (default " |
| 34 |
|
|
"np.matrix([0.,0.]))")) |
| 35 |
|
✗ |
.def("calc", &Model::calc, bp::args("self", "data", "x"), |
| 36 |
|
|
"Compute the 2D contact Jacobian and drift.\n\n" |
| 37 |
|
|
"The rigid contact model throught acceleration-base holonomic " |
| 38 |
|
|
"constraint of the contact frame placement.\n" |
| 39 |
|
|
":param data: contact data\n" |
| 40 |
|
|
":param x: state point (dim. state.nx)") |
| 41 |
|
✗ |
.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), |
| 42 |
|
|
"Compute the derivatives of the 2D contact holonomic " |
| 43 |
|
|
"constraint.\n\n" |
| 44 |
|
|
"The rigid contact model throught acceleration-base holonomic " |
| 45 |
|
|
"constraint of the contact frame placement. It assumes that calc " |
| 46 |
|
|
"has been run first.\n" |
| 47 |
|
|
":param data: cost data\n" |
| 48 |
|
|
":param x: state point (dim. state.nx)") |
| 49 |
|
✗ |
.def("updateForce", &Model::updateForce, |
| 50 |
|
|
bp::args("self", "data", "force"), |
| 51 |
|
|
"Convert the force into a stack of spatial forces.\n\n" |
| 52 |
|
|
":param data: cost data\n" |
| 53 |
|
|
":param force: force vector (dimension 2)") |
| 54 |
|
✗ |
.def("createData", &Model::createData, |
| 55 |
|
✗ |
bp::with_custodian_and_ward_postcall<0, 2>(), |
| 56 |
|
|
bp::args("self", "data"), |
| 57 |
|
|
"Create the 2D contact data.\n\n" |
| 58 |
|
|
"Each contact model has its own data that needs to be allocated. " |
| 59 |
|
|
"This function returns the allocated data for a predefined cost.\n" |
| 60 |
|
|
":param data: Pinocchio data\n" |
| 61 |
|
|
":return contact data.") |
| 62 |
|
✗ |
.add_property("reference", |
| 63 |
|
|
bp::make_function(&Model::get_reference, |
| 64 |
|
✗ |
bp::return_internal_reference<>()), |
| 65 |
|
|
&Model::set_reference, "reference contact translation") |
| 66 |
|
✗ |
.add_property( |
| 67 |
|
|
"gains", |
| 68 |
|
|
bp::make_function(&Model::get_gains, |
| 69 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 70 |
|
|
"contact gains"); |
| 71 |
|
|
} |
| 72 |
|
|
}; |
| 73 |
|
|
|
| 74 |
|
|
template <typename Data> |
| 75 |
|
|
struct ContactData2DVisitor |
| 76 |
|
|
: public bp::def_visitor<ContactData2DVisitor<Data>> { |
| 77 |
|
|
template <class PyClass> |
| 78 |
|
✗ |
void visit(PyClass& cl) const { |
| 79 |
|
✗ |
cl.add_property( |
| 80 |
|
|
"v", |
| 81 |
|
|
bp::make_getter(&Data::v, |
| 82 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 83 |
|
|
"spatial velocity of the contact body") |
| 84 |
|
✗ |
.add_property( |
| 85 |
|
|
"a", |
| 86 |
|
|
bp::make_getter(&Data::a, |
| 87 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 88 |
|
|
"spatial acceleration of the contact body") |
| 89 |
|
✗ |
.add_property( |
| 90 |
|
|
"fJf", |
| 91 |
|
✗ |
bp::make_getter(&Data::fJf, bp::return_internal_reference<>()), |
| 92 |
|
|
"local Jacobian of the contact frame") |
| 93 |
|
✗ |
.add_property("v_partial_dq", |
| 94 |
|
|
bp::make_getter(&Data::v_partial_dq, |
| 95 |
|
✗ |
bp::return_internal_reference<>()), |
| 96 |
|
|
"Jacobian of the spatial body velocity") |
| 97 |
|
✗ |
.add_property("a_partial_dq", |
| 98 |
|
|
bp::make_getter(&Data::a_partial_dq, |
| 99 |
|
✗ |
bp::return_internal_reference<>()), |
| 100 |
|
|
"Jacobian of the spatial body acceleration") |
| 101 |
|
✗ |
.add_property("a_partial_dv", |
| 102 |
|
|
bp::make_getter(&Data::a_partial_dv, |
| 103 |
|
✗ |
bp::return_internal_reference<>()), |
| 104 |
|
|
"Jacobian of the spatial body acceleration") |
| 105 |
|
✗ |
.add_property("a_partial_da", |
| 106 |
|
|
bp::make_getter(&Data::a_partial_da, |
| 107 |
|
✗ |
bp::return_internal_reference<>()), |
| 108 |
|
|
"Jacobian of the spatial body acceleration") |
| 109 |
|
✗ |
.add_property( |
| 110 |
|
|
"oRf", |
| 111 |
|
✗ |
bp::make_getter(&Data::oRf, bp::return_internal_reference<>()), |
| 112 |
|
|
"Rotation matrix of the contact body expressed in the world frame"); |
| 113 |
|
|
} |
| 114 |
|
|
}; |
| 115 |
|
|
|
| 116 |
|
|
#define CROCODDYL_CONTACT_MODEL_2D_PYTHON_BINDINGS(Scalar) \ |
| 117 |
|
|
typedef ContactModel2DTpl<Scalar> Model; \ |
| 118 |
|
|
typedef ContactModelAbstractTpl<Scalar> ModelBase; \ |
| 119 |
|
|
typedef Model::StateMultibody State; \ |
| 120 |
|
|
typedef Model::Vector2s Vector2s; \ |
| 121 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 122 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 123 |
|
|
"ContactModel2D", \ |
| 124 |
|
|
"Rigid 2D contact model.\n\n" \ |
| 125 |
|
|
"It defines a rigid 2D contact models (point contact) based on " \ |
| 126 |
|
|
"acceleration-based holonomic constraints, in x,z directions. The calc " \ |
| 127 |
|
|
"and calcDiff functions compute the contact Jacobian and drift " \ |
| 128 |
|
|
"(holonomic constraint) or the derivatives of the holonomic " \ |
| 129 |
|
|
"constraint, respectively.", \ |
| 130 |
|
|
bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector2s, \ |
| 131 |
|
|
std::size_t, bp::optional<Vector2s>>( \ |
| 132 |
|
|
bp::args("self", "state", "id", "xref", "nu", "gains"), \ |
| 133 |
|
|
"Initialize the contact model.\n\n" \ |
| 134 |
|
|
":param state: state of the multibody system\n" \ |
| 135 |
|
|
":param id: reference frame id of the contact\n" \ |
| 136 |
|
|
":param xref: contact position used for the Baumgarte " \ |
| 137 |
|
|
"stabilization\n" \ |
| 138 |
|
|
":param nu: dimension of control vector\n" \ |
| 139 |
|
|
":param gains: gains of the contact model (default " \ |
| 140 |
|
|
"np.matrix([0.,0.]))")) \ |
| 141 |
|
|
.def(ContactModel2DVisitor<Model>()) \ |
| 142 |
|
|
.def(CastVisitor<Model>()) \ |
| 143 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 144 |
|
|
.def(CopyableVisitor<Model>()); |
| 145 |
|
|
|
| 146 |
|
|
#define CROCODDYL_CONTACT_DATA_2D_PYTHON_BINDINGS(Scalar) \ |
| 147 |
|
|
typedef ContactData2DTpl<Scalar> Data; \ |
| 148 |
|
|
typedef ContactDataAbstractTpl<Scalar> DataBase; \ |
| 149 |
|
|
typedef ContactModel2DTpl<Scalar> Model; \ |
| 150 |
|
|
typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
| 151 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 152 |
|
|
bp::class_<Data, bp::bases<DataBase>>( \ |
| 153 |
|
|
"ContactData2D", "Data for 2D contact.\n\n", \ |
| 154 |
|
|
bp::init<Model*, PinocchioData*>( \ |
| 155 |
|
|
bp::args("self", "model", "data"), \ |
| 156 |
|
|
"Create 2D contact data.\n\n" \ |
| 157 |
|
|
":param model: 2D contact model\n" \ |
| 158 |
|
|
":param data: Pinocchio data")[bp::with_custodian_and_ward< \ |
| 159 |
|
|
1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
| 160 |
|
|
.def(ContactData2DVisitor<Data>()) \ |
| 161 |
|
|
.def(CopyableVisitor<Data>()); |
| 162 |
|
|
|
| 163 |
|
✗ |
void exposeContact2D() { |
| 164 |
|
|
#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has |
| 165 |
|
|
// been removed in a future release |
| 166 |
|
|
#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
| 167 |
|
|
|
| 168 |
|
✗ |
CROCODDYL_CONTACT_MODEL_2D_PYTHON_BINDINGS(double) |
| 169 |
|
|
|
| 170 |
|
|
#pragma GCC diagnostic pop |
| 171 |
|
|
|
| 172 |
|
✗ |
CROCODDYL_CONTACT_DATA_2D_PYTHON_BINDINGS(double) |
| 173 |
|
|
} |
| 174 |
|
|
|
| 175 |
|
|
} // namespace python |
| 176 |
|
|
} // namespace crocoddyl |
| 177 |
|
|
|