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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 float |
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#include "python/crocoddyl/multibody/contact-base.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 ContactModelAbstractVisitor |
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: public bp::def_visitor<ContactModelAbstractVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "x"), |
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"Compute the 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", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of contact holonomic 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: contact data\n" |
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":param x: state point (dim. state.nx)") |
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.def("updateForce", pure_virtual(&Model::updateForce), |
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bp::args("self", "data", "force"), |
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"Convert the force into a stack of spatial forces.\n\n" |
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":param data: contact data\n" |
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":param force: force vector (dimension nc)") |
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.def("updateForceDiff", &Model::updateForceDiff, |
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bp::args("self", "data", "df_dx", "df_du"), |
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"Update the Jacobians of the force.\n\n" |
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":param data: contact data\n" |
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":param df_dx: Jacobian of the force with respect to the state\n" |
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":param df_du: Jacobian of the force with respect to the control") |
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.def("setZeroForce", &Model::setZeroForce, bp::args("self", "data"), |
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"Set zero the spatial force.\n\n" |
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":param data: contact data") |
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.def("setZeroForceDiff", &Model::setZeroForceDiff, |
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bp::args("self", "data"), |
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"Set zero the derivatives of the spatial force.\n\n" |
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":param data: contact data") |
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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 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 " |
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"contact.\n" |
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":param data: Pinocchio data\n" |
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":return contact data.") |
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.def("createData", &Model::default_createData, |
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bp::with_custodian_and_ward_postcall<0, 2>()) |
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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 of the multibody system") |
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.add_property("nc", bp::make_function(&Model::get_nc), |
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"dimension of contact") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of control") |
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.add_property("id", &Model::get_id, &Model::set_id, |
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"reference frame id") |
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.add_property("type", bp::make_function(&Model::get_type), |
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&Model::set_type, "type of contact"); |
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} |
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}; |
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template <typename Data> |
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struct ContactDataAbstractVisitor |
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: public bp::def_visitor<ContactDataAbstractVisitor<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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"fXj", bp::make_getter(&Data::fXj, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::fXj), |
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"action matrix from contact to local frames") |
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.add_property( |
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"a0", bp::make_getter(&Data::a0, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::a0), "desired contact acceleration") |
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.add_property( |
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"da0_dx", |
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bp::make_getter(&Data::da0_dx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::da0_dx), |
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"Jacobian of the desired contact acceleration") |
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.add_property( |
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"dtau_dq", |
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bp::make_getter(&Data::dtau_dq, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_dq), "Force contribution to dtau_dq"); |
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} |
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}; |
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#define CROCODDYL_CONTACT_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ContactModelAbstractTpl<Scalar> Model; \ |
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typedef ContactModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef Model::StateMultibody State; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ContactModelAbstract", \ |
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"Abstract rigid contact model.\n\n" \ |
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"It defines a template for rigid contact models based on " \ |
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"acceleration-based holonomic constraints. The calc and calcDiff " \ |
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"functions compute the contact Jacobian and drift (holonomic " \ |
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"constraint) or the derivatives of the holonomic constraint, " \ |
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"respectively.", \ |
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bp::init<std::shared_ptr<State>, pinocchio::ReferenceFrame, std::size_t, \ |
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bp::optional<std::size_t>>( \ |
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bp::args("self", "state", "type", "nc", "nu"), \ |
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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 type: type of contact\n" \ |
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":param nc: dimension of contact model\n" \ |
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":param nu: dimension of the control vector (default state.nv)")) \ |
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.def(ContactModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_CONTACT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ContactDataAbstractTpl<Scalar> Data; \ |
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typedef ContactModelAbstractTpl<Scalar> Model; \ |
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typedef ForceDataAbstractTpl<Scalar> ForceData; \ |
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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<ForceData>>( \ |
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"ContactDataAbstract", "Abstract class for contact datas.\n\n", \ |
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bp::init<Model*, PinocchioData*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between contact models.\n\n" \ |
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":param model: 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(ContactDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeContactAbstract() { |
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CROCODDYL_CONTACT_MODEL_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_CONTACT_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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