| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 "python/crocoddyl/multibody/contact-base.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ContactModelAbstractVisitor | ||
| 20 | : public bp::def_visitor<ContactModelAbstractVisitor<Model>> { | ||
| 21 | template <class PyClass> | ||
| 22 | ✗ | void visit(PyClass& cl) const { | |
| 23 | ✗ | cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "x"), | |
| 24 | "Compute the contact Jacobian and drift.\n\n" | ||
| 25 | "The rigid contact model throught acceleration-base holonomic " | ||
| 26 | "constraint of the contact frame placement.\n" | ||
| 27 | ":param data: contact data\n" | ||
| 28 | ":param x: state point (dim. state.nx)") | ||
| 29 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 30 | bp::args("self", "data", "x"), | ||
| 31 | "Compute the derivatives of contact holonomic constraint.\n\n" | ||
| 32 | "The rigid contact model throught acceleration-base holonomic " | ||
| 33 | "constraint of the contact frame placement. It assumes that calc " | ||
| 34 | "has been run first.\n" | ||
| 35 | ":param data: contact data\n" | ||
| 36 | ":param x: state point (dim. state.nx)") | ||
| 37 | ✗ | .def("updateForce", pure_virtual(&Model::updateForce), | |
| 38 | bp::args("self", "data", "force"), | ||
| 39 | "Convert the force into a stack of spatial forces.\n\n" | ||
| 40 | ":param data: contact data\n" | ||
| 41 | ":param force: force vector (dimension nc)") | ||
| 42 | ✗ | .def("updateForceDiff", &Model::updateForceDiff, | |
| 43 | bp::args("self", "data", "df_dx", "df_du"), | ||
| 44 | "Update the Jacobians of the force.\n\n" | ||
| 45 | ":param data: contact data\n" | ||
| 46 | ":param df_dx: Jacobian of the force with respect to the state\n" | ||
| 47 | ":param df_du: Jacobian of the force with respect to the control") | ||
| 48 | ✗ | .def("setZeroForce", &Model::setZeroForce, bp::args("self", "data"), | |
| 49 | "Set zero the spatial force.\n\n" | ||
| 50 | ":param data: contact data") | ||
| 51 | ✗ | .def("setZeroForceDiff", &Model::setZeroForceDiff, | |
| 52 | bp::args("self", "data"), | ||
| 53 | "Set zero the derivatives of the spatial force.\n\n" | ||
| 54 | ":param data: contact data") | ||
| 55 | ✗ | .def("createData", &Model::createData, | |
| 56 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 57 | bp::args("self", "data"), | ||
| 58 | "Create the contact data.\n\n" | ||
| 59 | "Each contact model has its own data that needs to be allocated. " | ||
| 60 | "This function returns the allocated data for a predefined " | ||
| 61 | "contact.\n" | ||
| 62 | ":param data: Pinocchio data\n" | ||
| 63 | ":return contact data.") | ||
| 64 | ✗ | .def("createData", &Model::default_createData, | |
| 65 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>()) | |
| 66 | ✗ | .add_property( | |
| 67 | "state", | ||
| 68 | bp::make_function(&Model::get_state, | ||
| 69 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 70 | "state of the multibody system") | ||
| 71 | ✗ | .add_property("nc", bp::make_function(&Model::get_nc), | |
| 72 | "dimension of contact") | ||
| 73 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 74 | "dimension of control") | ||
| 75 | ✗ | .add_property("id", &Model::get_id, &Model::set_id, | |
| 76 | "reference frame id") | ||
| 77 | ✗ | .add_property("type", bp::make_function(&Model::get_type), | |
| 78 | &Model::set_type, "type of contact"); | ||
| 79 | ✗ | } | |
| 80 | }; | ||
| 81 | |||
| 82 | template <typename Data> | ||
| 83 | struct ContactDataAbstractVisitor | ||
| 84 | : public bp::def_visitor<ContactDataAbstractVisitor<Data>> { | ||
| 85 | template <class PyClass> | ||
| 86 | ✗ | void visit(PyClass& cl) const { | |
| 87 | ✗ | cl.add_property( | |
| 88 | ✗ | "fXj", bp::make_getter(&Data::fXj, bp::return_internal_reference<>()), | |
| 89 | ✗ | bp::make_setter(&Data::fXj), | |
| 90 | "action matrix from contact to local frames") | ||
| 91 | ✗ | .add_property( | |
| 92 | ✗ | "a0", bp::make_getter(&Data::a0, bp::return_internal_reference<>()), | |
| 93 | ✗ | bp::make_setter(&Data::a0), "desired contact acceleration") | |
| 94 | ✗ | .add_property( | |
| 95 | "da0_dx", | ||
| 96 | ✗ | bp::make_getter(&Data::da0_dx, bp::return_internal_reference<>()), | |
| 97 | ✗ | bp::make_setter(&Data::da0_dx), | |
| 98 | "Jacobian of the desired contact acceleration") | ||
| 99 | ✗ | .add_property( | |
| 100 | "dtau_dq", | ||
| 101 | ✗ | bp::make_getter(&Data::dtau_dq, bp::return_internal_reference<>()), | |
| 102 | ✗ | bp::make_setter(&Data::dtau_dq), "Force contribution to dtau_dq"); | |
| 103 | ✗ | } | |
| 104 | }; | ||
| 105 | |||
| 106 | #define CROCODDYL_CONTACT_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 107 | typedef ContactModelAbstractTpl<Scalar> Model; \ | ||
| 108 | typedef ContactModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 109 | typedef Model::StateMultibody State; \ | ||
| 110 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 111 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 112 | "ContactModelAbstract", \ | ||
| 113 | "Abstract rigid contact model.\n\n" \ | ||
| 114 | "It defines a template for rigid contact models based on " \ | ||
| 115 | "acceleration-based holonomic constraints. The calc and calcDiff " \ | ||
| 116 | "functions compute the contact Jacobian and drift (holonomic " \ | ||
| 117 | "constraint) or the derivatives of the holonomic constraint, " \ | ||
| 118 | "respectively.", \ | ||
| 119 | bp::init<std::shared_ptr<State>, pinocchio::ReferenceFrame, std::size_t, \ | ||
| 120 | bp::optional<std::size_t>>( \ | ||
| 121 | bp::args("self", "state", "type", "nc", "nu"), \ | ||
| 122 | "Initialize the contact model.\n\n" \ | ||
| 123 | ":param state: state of the multibody system\n" \ | ||
| 124 | ":param type: type of contact\n" \ | ||
| 125 | ":param nc: dimension of contact model\n" \ | ||
| 126 | ":param nu: dimension of the control vector (default state.nv)")) \ | ||
| 127 | .def(ContactModelAbstractVisitor<Model_wrap>()) \ | ||
| 128 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 129 | .def(CopyableVisitor<Model_wrap>()); | ||
| 130 | |||
| 131 | #define CROCODDYL_CONTACT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 132 | typedef ContactDataAbstractTpl<Scalar> Data; \ | ||
| 133 | typedef ContactModelAbstractTpl<Scalar> Model; \ | ||
| 134 | typedef ForceDataAbstractTpl<Scalar> ForceData; \ | ||
| 135 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 136 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 137 | bp::class_<Data, bp::bases<ForceData>>( \ | ||
| 138 | "ContactDataAbstract", "Abstract class for contact datas.\n\n", \ | ||
| 139 | bp::init<Model*, PinocchioData*>( \ | ||
| 140 | bp::args("self", "model", "data"), \ | ||
| 141 | "Create common data shared between contact models.\n\n" \ | ||
| 142 | ":param model: contact model\n" \ | ||
| 143 | ":param data: Pinocchio data")[bp::with_custodian_and_ward< \ | ||
| 144 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 145 | .def(ContactDataAbstractVisitor<Data>()) \ | ||
| 146 | .def(CopyableVisitor<Data>()); | ||
| 147 | |||
| 148 | ✗ | void exposeContactAbstract() { | |
| 149 | ✗ | CROCODDYL_CONTACT_MODEL_ABSTRACT_PYTHON_BINDINGS(double) | |
| 150 | ✗ | CROCODDYL_CONTACT_DATA_ABSTRACT_PYTHON_BINDINGS(double) | |
| 151 | ✗ | } | |
| 152 | |||
| 153 | } // namespace python | ||
| 154 | } // namespace crocoddyl | ||
| 155 |