| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 34 | 37 | 91.9% |
| Branches: | 28 | 56 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, University of Duisburg-Essen, University of | ||
| 5 | // Edinburgh, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #include "crocoddyl/multibody/residuals/contact-cop-position.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 15 | #include "python/crocoddyl/utils/deprecate.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | 10 | void exposeResidualContactCoPPosition() { | |
| 21 | bp::register_ptr_to_python< | ||
| 22 | 10 | boost::shared_ptr<ResidualModelContactCoPPosition> >(); | |
| 23 | |||
| 24 |
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10 | bp::class_<ResidualModelContactCoPPosition, |
| 25 | bp::bases<ResidualModelAbstract> >( | ||
| 26 | "ResidualModelContactCoPPosition", | ||
| 27 |
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10 | bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, |
| 28 | CoPSupport, std::size_t, bp::optional<bool> >( | ||
| 29 | 20 | bp::args("self", "state", "id", "cref", "nu", "fwddyn"), | |
| 30 | "Initialize the contact CoP position residual model.\n\n" | ||
| 31 | ":param state: state of the multibody system\n" | ||
| 32 | ":param id: reference frame id\n" | ||
| 33 | ":param cref: support region of the CoP\n" | ||
| 34 | ":param nu: dimension of control vector\n" | ||
| 35 | ":param fwddyn: indicate if we have a forward dynamics problem " | ||
| 36 | "(True) or inverse dynamics problem (False) " | ||
| 37 | "(default True)")) | ||
| 38 |
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10 | .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, |
| 39 | CoPSupport>( | ||
| 40 |
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20 | bp::args("self", "state", "id", "cref"), |
| 41 | "Initialize the contact CoP position residual model.\n\n" | ||
| 42 | "The default nu is obtained from state.nv. Note that this " | ||
| 43 | "constructor can be used for forward-dynamics\n" | ||
| 44 | "cases only.\n" | ||
| 45 | ":param state: state of the multibody system\n" | ||
| 46 | ":param id: reference frame id\n" | ||
| 47 | ":param cref: support region of the CoP")) | ||
| 48 | .def<void (ResidualModelContactCoPPosition::*)( | ||
| 49 | const boost::shared_ptr<ResidualDataAbstract>&, | ||
| 50 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 51 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 52 | "calc", &ResidualModelContactCoPPosition::calc, | ||
| 53 |
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20 | bp::args("self", "data", "x", "u"), |
| 54 | "Compute the contact CoP position residual.\n\n" | ||
| 55 | ":param data: residual data\n" | ||
| 56 | ":param x: state point (dim. state.nx)\n" | ||
| 57 | ":param u: control input (dim. nu)") | ||
| 58 | .def<void (ResidualModelContactCoPPosition::*)( | ||
| 59 | const boost::shared_ptr<ResidualDataAbstract>&, | ||
| 60 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 61 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 62 | "calcDiff", &ResidualModelContactCoPPosition::calcDiff, | ||
| 63 |
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20 | bp::args("self", "data", "x", "u"), |
| 64 | "Compute the derivatives of the contact CoP position residual.\n\n" | ||
| 65 | "It assumes that calc has been run first.\n" | ||
| 66 | ":param data: action data\n" | ||
| 67 | ":param x: state point (dim. state.nx)\n" | ||
| 68 | ":param u: control input (dim. nu)\n") | ||
| 69 |
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20 | .def("createData", &ResidualModelContactCoPPosition::createData, |
| 70 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 71 |
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20 | bp::args("self", "data"), |
| 72 | "Create the contact CoP position residual data.\n\n" | ||
| 73 | "Each residual model has its own data that needs to be allocated. " | ||
| 74 | "This function\n" | ||
| 75 | "returns the allocated data for the CoP position residual.\n" | ||
| 76 | ":param data: shared data\n" | ||
| 77 | ":return residual data.") | ||
| 78 |
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10 | .add_property( |
| 79 |
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10 | "id", bp::make_function(&ResidualModelContactCoPPosition::get_id), |
| 80 |
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20 | bp::make_function( |
| 81 | &ResidualModelContactCoPPosition::set_id, | ||
| 82 |
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20 | deprecated<>( |
| 83 | "Deprecated. Do not use set_id, instead create a new model")), | ||
| 84 | "reference frame id") | ||
| 85 |
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10 | .add_property("reference", |
| 86 |
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10 | bp::make_function( |
| 87 | &ResidualModelContactCoPPosition::get_reference, | ||
| 88 | 10 | bp::return_value_policy<bp::copy_const_reference>()), | |
| 89 | &ResidualModelContactCoPPosition::set_reference, | ||
| 90 | "reference support region of the CoP") | ||
| 91 |
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10 | .def(CopyableVisitor<ResidualModelContactCoPPosition>()); |
| 92 | |||
| 93 | bp::register_ptr_to_python< | ||
| 94 | 10 | boost::shared_ptr<ResidualDataContactCoPPosition> >(); | |
| 95 | |||
| 96 |
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10 | bp::class_<ResidualDataContactCoPPosition, bp::bases<ResidualDataAbstract> >( |
| 97 | "ResidualDataContactCoPPosition", | ||
| 98 | "Data for contact CoP position residual.\n\n", | ||
| 99 |
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10 | bp::init<ResidualModelContactCoPPosition*, DataCollectorAbstract*>( |
| 100 | 10 | bp::args("self", "model", "data"), | |
| 101 | "Create contact CoP position residual data.\n\n" | ||
| 102 | ":param model: contact CoP position residual model\n" | ||
| 103 | ✗ | ":param data: shared data")[bp::with_custodian_and_ward< | |
| 104 |
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20 | 1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
| 105 |
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10 | .add_property("pinocchio", |
| 106 |
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10 | bp::make_getter(&ResidualDataContactCoPPosition::pinocchio, |
| 107 | 10 | bp::return_internal_reference<>()), | |
| 108 | "pinocchio data") | ||
| 109 |
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10 | .add_property( |
| 110 | "contact", | ||
| 111 |
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10 | bp::make_getter(&ResidualDataContactCoPPosition::contact, |
| 112 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 113 |
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20 | bp::make_setter(&ResidualDataContactCoPPosition::contact), |
| 114 | "contact data associated with the current residual") | ||
| 115 |
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10 | .def(CopyableVisitor<ResidualDataContactCoPPosition>()); |
| 116 | 10 | } | |
| 117 | |||
| 118 | } // namespace python | ||
| 119 | } // namespace crocoddyl | ||
| 120 |