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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, 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/residuals/contact-control-gravity.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 ResidualModelContactControlGravVisitor |
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: public bp::def_visitor<ResidualModelContactControlGravVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::StateMultibody State; |
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typedef typename Model::VectorXs VectorXs; |
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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>>( |
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bp::args("self", "state"), |
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"Initialize the contact control-gravity residual model.\n\n" |
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"The default nu is obtained from state.nv.\n" |
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":param state: state description")) |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the contact control-gravity residual.\n\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calc", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calc), |
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bp::args("self", "data", "x")) |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobias of the contact control-gravity residual.\n\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calcDiff", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calcDiff), |
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bp::args("self", "data", "x")) |
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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 control-gravity residual data.\n\n" |
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"Each residual 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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"residual.\n" |
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":param data: shared data\n" |
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":return residual data."); |
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} |
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}; |
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template <typename Data> |
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struct ResidualDataContactControlGravVisitor |
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: public bp::def_visitor<ResidualDataContactControlGravVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property("pinocchio", bp::make_getter(&Data::pinocchio), |
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"Pinocchio data used for internal computations") |
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.add_property("actuation", |
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bp::make_getter(&Data::actuation, |
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bp::return_internal_reference<>()), |
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"actuation model") |
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.add_property( |
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"fext", |
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bp::make_getter(&Data::fext, bp::return_internal_reference<>()), |
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"external spatial forces"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_CONTACT_CONTROL_GRAV_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelContactControlGravTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename Model::StateMultibody State; \ |
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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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"ResidualModelContactControlGrav", \ |
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"This residual function defines a residual vector as r = u - " \ |
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"g(q,fext), with u as the control, q as the position, fext as the " \ |
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"external forces and g as the gravity vector in contact", \ |
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bp::init<std::shared_ptr<State>, std::size_t>( \ |
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bp::args("self", "state", "nu"), \ |
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"Initialize the contact control-gravity residual model.\n\n" \ |
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":param state: state description\n" \ |
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":param nu: dimension of the control vector")) \ |
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.def(ResidualModelContactControlGravVisitor<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_RESIDUAL_DATA_CONTACT_CONTROL_GRAV_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualDataContactControlGravTpl<Scalar> Data; \ |
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typedef ResidualDataAbstractTpl<Scalar> DataBase; \ |
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typedef ResidualModelContactControlGravTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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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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"ResidualDataContactControlGrav", \ |
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"Data for control gravity residual in contact.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create contact control-gravity gravity contact residual data.\n\n" \ |
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":param model: control gravity residual model in contact\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ResidualDataContactControlGravVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeResidualContactControlGrav() { |
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CROCODDYL_RESIDUAL_MODEL_CONTACT_CONTROL_GRAV_PYTHON_BINDINGS(double) |
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CROCODDYL_RESIDUAL_DATA_CONTACT_CONTROL_GRAV_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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