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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh |
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// 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 double |
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#include "crocoddyl/multibody/contacts/contact-6d.hpp" |
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#include "python/crocoddyl/multibody/multibody.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 ContactModel6DVisitor |
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: public bp::def_visitor<ContactModel6DVisitor<Model>> { |
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typedef typename Model::StateMultibody State; |
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typedef typename Model::SE3 SE3; |
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typedef typename Model::Vector2s Vector2s; |
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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>, pinocchio::FrameIndex, SE3, |
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pinocchio::ReferenceFrame, bp::optional<Vector2s>>( |
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bp::args("self", "state", "id", "pref", "type", "gains"), |
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"Initialize the contact model.\n\n" |
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":param state: state of the multibody system\n" |
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":param id: reference frame id of the contact\n" |
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":param pref: contact placement used for the Baumgarte " |
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"stabilization\n" |
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":param type: type of contact\n" |
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":param gains: gains of the contact model (default " |
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"np.matrix([0.,0.]))")) |
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.def("calc", &Model::calc, bp::args("self", "data", "x"), |
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"Compute the 6D contact Jacobian and drift.\n\n" |
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"The rigid contact model throught acceleration-base holonomic " |
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"constraint of the contact frame placement.\n" |
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":param data: contact data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), |
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"Compute the derivatives of the 6D contact holonomic " |
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"constraint.\n\n" |
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"The rigid contact model throught acceleration-base holonomic " |
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"constraint of the contact frame placement. It assumes that calc " |
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"has been run first.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("updateForce", &Model::updateForce, |
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bp::args("self", "data", "force"), |
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"Convert the Lagrangian into a stack of spatial forces.\n\n" |
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":param data: cost data\n" |
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":param force: force vector (dimension 6)") |
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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 6D contact data.\n\n" |
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"Each contact model has its own data that needs to be allocated. " |
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"This function returns the allocated data for a predefined cost.\n" |
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":param data: Pinocchio data\n" |
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":return contact data.") |
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.add_property("reference", |
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bp::make_function(&Model::get_reference, |
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bp::return_internal_reference<>()), |
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&Model::set_reference, "reference contact placement") |
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.add_property( |
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"gains", |
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bp::make_function(&Model::get_gains, |
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bp::return_value_policy<bp::return_by_value>()), |
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"contact gains"); |
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} |
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}; |
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template <typename Data> |
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struct ContactData6DVisitor |
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: public bp::def_visitor<ContactData6DVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"rMf", |
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bp::make_getter(&Data::jMf, |
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bp::return_value_policy<bp::return_by_value>()), |
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"error frame placement of the contact frame") |
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.add_property( |
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"v", |
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bp::make_getter(&Data::v, |
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bp::return_value_policy<bp::return_by_value>()), |
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"spatial velocity of the contact body") |
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.add_property( |
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"a0_local", |
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bp::make_getter(&Data::a0_local, |
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bp::return_value_policy<bp::return_by_value>()), |
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"desired local contact acceleration") |
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.add_property("v_partial_dq", |
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bp::make_getter(&Data::v_partial_dq, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body velocity") |
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.add_property("a_partial_dq", |
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bp::make_getter(&Data::a_partial_dq, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body acceleration") |
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.add_property("a_partial_dv", |
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bp::make_getter(&Data::a_partial_dv, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body acceleration") |
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.add_property("a_partial_da", |
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bp::make_getter(&Data::a_partial_da, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body acceleration"); |
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} |
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}; |
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#define CROCODDYL_CONTACT_MODEL_6D_PYTHON_BINDINGS(Scalar) \ |
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typedef ContactModel6DTpl<Scalar> Model; \ |
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typedef ContactModelAbstractTpl<Scalar> ModelBase; \ |
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typedef Model::StateMultibody State; \ |
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typedef Model::SE3 SE3; \ |
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typedef Model::Vector2s Vector2s; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ContactModel6D", \ |
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"Rigid 6D contact model.\n\n" \ |
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"It defines a rigid 6D contact models based on acceleration-based " \ |
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"holonomic constraints. The calc and calcDiff functions compute the " \ |
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"contact Jacobian and drift (holonomic constraint) or the derivatives " \ |
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"of the holonomic constraint, respectively.", \ |
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bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, SE3, \ |
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pinocchio::ReferenceFrame, std::size_t, \ |
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bp::optional<Vector2s>>( \ |
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bp::args("self", "state", "id", "pref", "type", "nu", "gains"), \ |
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"Initialize the contact model.\n\n" \ |
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":param state: state of the multibody system\n" \ |
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":param id: reference frame id of the contact\n" \ |
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":param pref: contact placement used for the Baumgarte " \ |
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"stabilization\n" \ |
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":param type: type of contact\n" \ |
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":param nu: dimension of control vector\n" \ |
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":param gains: gains of the contact model (default " \ |
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"np.matrix([0.,0.]))")) \ |
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.def(ContactModel6DVisitor<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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#define CROCODDYL_CONTACT_DATA_6D_PYTHON_BINDINGS(Scalar) \ |
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typedef ContactData6DTpl<Scalar> Data; \ |
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typedef ContactDataAbstractTpl<Scalar> DataBase; \ |
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typedef ContactModel6DTpl<Scalar> Model; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"ContactData6D", "Data for 6D contact.\n\n", \ |
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bp::init<Model*, PinocchioData*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create 6D contact data.\n\n" \ |
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":param model: 6D contact model\n" \ |
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":param data: Pinocchio data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ContactData6DVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeContact6D() { |
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#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has |
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// been removed in a future release |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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CROCODDYL_CONTACT_MODEL_6D_PYTHON_BINDINGS(double) |
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#pragma GCC diagnostic pop |
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CROCODDYL_CONTACT_DATA_6D_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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