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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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#ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |
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#include "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 Scalar> |
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class ContactModelAbstractTpl_wrap |
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: public ContactModelAbstractTpl<Scalar>, |
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public bp::wrapper<ContactModelAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ContactModelBase, ContactModelAbstractTpl_wrap) |
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typedef typename crocoddyl::ContactModelAbstractTpl<Scalar> ContactModel; |
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typedef typename crocoddyl::ContactDataAbstractTpl<Scalar> ContactData; |
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typedef typename ContactModel::VectorXs VectorXs; |
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typedef typename ContactModel::StateMultibody State; |
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using ContactModel::nc_; |
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using ContactModel::nu_; |
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using ContactModel::state_; |
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using ContactModel::type_; |
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ContactModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const pinocchio::ReferenceFrame type, |
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std::size_t nc, std::size_t nu) |
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: ContactModel(state, type, nc, nu) {} |
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ContactModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const pinocchio::ReferenceFrame type, |
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std::size_t nc) |
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: ContactModel(state, type, nc) {} |
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void calc(const std::shared_ptr<ContactData>& data, |
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const Eigen::Ref<const VectorXs>& x) override { |
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assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
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"x has wrong dimension"); |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x); |
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} |
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void calcDiff(const std::shared_ptr<ContactData>& data, |
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const Eigen::Ref<const VectorXs>& x) override { |
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assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
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"x has wrong dimension"); |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x); |
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} |
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void updateForce(const std::shared_ptr<ContactData>& data, |
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const VectorXs& force) override { |
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assert_pretty(static_cast<std::size_t>(force.size()) == nc_, |
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"force has wrong dimension"); |
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return bp::call<void>(this->get_override("updateForce").ptr(), data, force); |
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} |
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std::shared_ptr<ContactData> createData( |
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pinocchio::DataTpl<Scalar>* const data) override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ContactData>>(createData.ptr(), |
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boost::ref(data)); |
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} |
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return ContactModel::createData(data); |
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} |
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std::shared_ptr<ContactData> default_createData( |
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pinocchio::DataTpl<Scalar>* const data) { |
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return this->ContactModel::createData(data); |
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} |
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template <typename NewScalar> |
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ContactModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef ContactModelAbstractTpl_wrap<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::make_shared<StateType>(state_->template cast<NewScalar>()), type_, |
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nc_, nu_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ |
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