| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/contact-base.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 4 | 27 | 14.8% |
| Branches: | 2 | 54 | 3.7% |
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| 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 | #ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | class ContactModelAbstractTpl_wrap | ||
| 21 | : public ContactModelAbstractTpl<Scalar>, | ||
| 22 | public bp::wrapper<ContactModelAbstractTpl<Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(ContactModelBase, ContactModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef typename crocoddyl::ContactModelAbstractTpl<Scalar> ContactModel; | ||
| 28 | typedef typename crocoddyl::ContactDataAbstractTpl<Scalar> ContactData; | ||
| 29 | typedef typename ContactModel::VectorXs VectorXs; | ||
| 30 | typedef typename ContactModel::StateMultibody State; | ||
| 31 | using ContactModel::nc_; | ||
| 32 | using ContactModel::nu_; | ||
| 33 | using ContactModel::state_; | ||
| 34 | using ContactModel::type_; | ||
| 35 | |||
| 36 | 2 | ContactModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 37 | const pinocchio::ReferenceFrame type, | ||
| 38 | std::size_t nc, std::size_t nu) | ||
| 39 |
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2 | : ContactModel(state, type, nc, nu) {} |
| 40 | 9 | ContactModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 41 | const pinocchio::ReferenceFrame type, | ||
| 42 | std::size_t nc) | ||
| 43 |
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18 | : ContactModel(state, type, nc) {} |
| 44 | |||
| 45 | ✗ | void calc(const std::shared_ptr<ContactData>& data, | |
| 46 | const Eigen::Ref<const VectorXs>& x) override { | ||
| 47 | ✗ | assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), | |
| 48 | "x has wrong dimension"); | ||
| 49 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x); | |
| 50 | } | ||
| 51 | |||
| 52 | ✗ | void calcDiff(const std::shared_ptr<ContactData>& data, | |
| 53 | const Eigen::Ref<const VectorXs>& x) override { | ||
| 54 | ✗ | assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), | |
| 55 | "x has wrong dimension"); | ||
| 56 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 57 | ✗ | (VectorXs)x); | |
| 58 | } | ||
| 59 | |||
| 60 | ✗ | void updateForce(const std::shared_ptr<ContactData>& data, | |
| 61 | const VectorXs& force) override { | ||
| 62 | ✗ | assert_pretty(static_cast<std::size_t>(force.size()) == nc_, | |
| 63 | "force has wrong dimension"); | ||
| 64 | ✗ | return bp::call<void>(this->get_override("updateForce").ptr(), data, force); | |
| 65 | } | ||
| 66 | |||
| 67 | ✗ | std::shared_ptr<ContactData> createData( | |
| 68 | pinocchio::DataTpl<Scalar>* const data) override { | ||
| 69 | ✗ | enableMultithreading() = false; | |
| 70 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 71 | return bp::call<std::shared_ptr<ContactData>>(createData.ptr(), | ||
| 72 | ✗ | boost::ref(data)); | |
| 73 | } | ||
| 74 | ✗ | return ContactModel::createData(data); | |
| 75 | } | ||
| 76 | |||
| 77 | ✗ | std::shared_ptr<ContactData> default_createData( | |
| 78 | pinocchio::DataTpl<Scalar>* const data) { | ||
| 79 | ✗ | return this->ContactModel::createData(data); | |
| 80 | } | ||
| 81 | |||
| 82 | template <typename NewScalar> | ||
| 83 | ✗ | ContactModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 84 | typedef ContactModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 85 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 86 | ✗ | ReturnType ret( | |
| 87 | ✗ | std::make_shared<StateType>(state_->template cast<NewScalar>()), type_, | |
| 88 | ✗ | nc_, nu_); | |
| 89 | ✗ | return ret; | |
| 90 | } | ||
| 91 | }; | ||
| 92 | |||
| 93 | } // namespace python | ||
| 94 | } // namespace crocoddyl | ||
| 95 | |||
| 96 | #endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 97 |