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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 "crocoddyl/multibody/residuals/contact-force.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "python/crocoddyl/utils/deprecate.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 ResidualModelContactForceVisitor |
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: public bp::def_visitor<ResidualModelContactForceVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::StateMultibody State; |
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typedef typename Model::Force Force; |
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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>, pinocchio::FrameIndex, Force, |
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std::size_t>( |
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bp::args("self", "state", "id", "fref", "nc"), |
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"Initialize the contact force residual model.\n\n" |
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"The default nu is obtained from state.nv. Note that this " |
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"constructor can be used for forward-dynamics cases only.\n" |
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":param state: state of the multibody system\n" |
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":param id: reference frame id\n" |
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":param nc: dimension of the contact force (nc <= 6)\n" |
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":param fref: reference spatial contact force in the contact " |
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"coordinates\n")) |
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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 force 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("calc", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::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 Jacobians of the contact force residual.\n\n" |
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"It assumes that calc has been run first.\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("calcDiff", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::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 force 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 the contact force " |
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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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.add_property( |
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"id", bp::make_function(&Model::get_id), |
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bp::make_function(&Model::set_id, |
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deprecated<>("Deprecated. Do not use set_id, " |
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"instead create a new model")), |
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"reference frame id") |
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.add_property("reference", |
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bp::make_function( |
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&Model::get_reference, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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&Model::set_reference, "reference spatial force"); |
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} |
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}; |
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template <typename Data> |
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struct ResidualDataContactForceVisitor |
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: public bp::def_visitor<ResidualDataContactForceVisitor<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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"contact", |
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bp::make_getter(&Data::contact, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::contact), |
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"contact data associated with the current residual"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_CONTACT_FORCE_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelContactForceTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename Model::StateMultibody State; \ |
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typedef typename Model::Force Force; \ |
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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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"ResidualModelContactForce", \ |
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"This residual function is defined as r = f-fref, where f,fref " \ |
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"describe the current and reference the spatial forces, respectively.", \ |
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bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Force, \ |
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std::size_t, std::size_t, bp::optional<bool>>( \ |
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bp::args("self", "state", "id", "fref", "nc", "nu", "fwddyn"), \ |
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"Initialize the contact force residual model.\n\n" \ |
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":param state: state of the multibody system\n" \ |
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":param id: reference frame id\n" \ |
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":param fref: reference spatial contact force in the contact " \ |
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"coordinates\n" \ |
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":param nc: dimension of the contact force (nc <= 6)\n" \ |
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":param nu: dimension of control vector\n" \ |
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":param fwddyn: indicate if we have a forward dynamics problem " \ |
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"(True) or inverse dynamics problem (False) (default True)")) \ |
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.def(ResidualModelContactForceVisitor<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_FORCE_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualDataContactForceTpl<Scalar> Data; \ |
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typedef ResidualDataAbstractTpl<Scalar> DataBase; \ |
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typedef ResidualModelContactForceTpl<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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"ResidualDataContactForce", "Data for contact force residual.\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 force residual data.\n\n" \ |
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":param model: contact force residual model\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(ResidualDataContactForceVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeResidualContactForce() { |
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CROCODDYL_RESIDUAL_MODEL_CONTACT_FORCE_PYTHON_BINDINGS(float) |
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CROCODDYL_RESIDUAL_DATA_CONTACT_FORCE_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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