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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, CTU, INRIA, |
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// University of Oxford, 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/actions/contact-fwddyn.hpp" |
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#include "python/crocoddyl/core/diff-action-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 Model> |
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struct DifferentialActionModelContactFwdDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionModelContactFwdDynamicsVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::DifferentialActionDataAbstract Data; |
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typedef typename Model::StateMultibody State; |
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typedef typename Model::ActuationModelAbstract Actuation; |
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typedef typename Model::ContactModelMultiple Contacts; |
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typedef typename Model::CostModelSum Costs; |
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typedef typename Model::ConstraintModelManager Constraints; |
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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 |
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.def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, |
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std::shared_ptr<Contacts>, std::shared_ptr<Costs>, |
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std::shared_ptr<Constraints>, bp::optional<Scalar, bool>>( |
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bp::args("self", "state", "actuation", "contacts", "costs", |
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"constraints", "inv_damping", "enable_force"), |
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"Initialize the constrained forward-dynamics action model.\n\n" |
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"The damping factor is needed when the contact Jacobian is not " |
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"full-rank. Otherwise, a good damping factor could be 1e-12. In " |
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"addition, if you have cost based on forces, you need to enable " |
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"the computation of the force Jacobians (i.e. enable_force=True).\n" |
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":param state: multibody state\n" |
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":param actuation: actuation model\n" |
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":param contacts: multiple contact model\n" |
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":param costs: stack of cost functions\n" |
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":param constraints: stack of constraint functions\n" |
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":param inv_damping: Damping factor for cholesky decomposition of " |
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"JMinvJt (default 0.)\n" |
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":param enable_force: Enable the computation of force Jacobians " |
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"(default False)")) |
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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 next state and cost value.\n\n" |
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"It describes the time-continuous evolution of the multibody " |
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"system with contact. The contacts are modelled as holonomic " |
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"constraints. Additionally it computes the cost value associated " |
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"to this state and control pair.\n" |
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":param data: contact forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input") |
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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 derivatives of the differential multibody system and " |
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"its cost functions.\n\n" |
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"It computes the partial derivatives of the differential multibody " |
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"system and the cost function. It assumes that calc has been run " |
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"first. This function builds a quadratic approximation of the " |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: contact forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input\n") |
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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, bp::args("self"), |
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"Create the contact forward dynamics differential action data.") |
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.add_property("pinocchio", |
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bp::make_function(&Model::get_pinocchio, |
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bp::return_internal_reference<>()), |
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"multibody model (i.e. pinocchio model)") |
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.add_property( |
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"actuation", |
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bp::make_function(&Model::get_actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"actuation model") |
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.add_property( |
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"contacts", |
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bp::make_function(&Model::get_contacts, |
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bp::return_value_policy<bp::return_by_value>()), |
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"multiple contact model") |
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.add_property( |
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"costs", |
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bp::make_function(&Model::get_costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost model") |
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.add_property( |
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"constraints", |
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bp::make_function(&Model::get_constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint model manager") |
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.add_property( |
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"armature", |
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bp::make_function(&Model::get_armature, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Model::set_armature), |
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"set an armature mechanism in the joints") |
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.add_property("JMinvJt_damping", |
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bp::make_function(&Model::get_damping_factor), |
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bp::make_function(&Model::set_damping_factor), |
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"Damping factor for cholesky decomposition of JMinvJt"); |
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} |
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}; |
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template <typename Data> |
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struct DifferentialActionDataContactFwdDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionDataContactFwdDynamicsVisitor<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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"pinocchio", |
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bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
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"pinocchio data") |
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.add_property("multibody", |
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bp::make_getter(&Data::multibody, |
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bp::return_internal_reference<>()), |
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"multibody data") |
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.add_property( |
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"costs", |
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bp::make_getter(&Data::costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost data") |
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.add_property( |
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"constraints", |
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bp::make_getter(&Data::constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint data") |
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.add_property( |
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"Kinv", |
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bp::make_getter(&Data::Kinv, bp::return_internal_reference<>()), |
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"inverse of the KKT matrix") |
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.add_property( |
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"df_dx", |
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bp::make_getter(&Data::df_dx, bp::return_internal_reference<>()), |
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"Jacobian of the contact force") |
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.add_property( |
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"df_du", |
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bp::make_getter(&Data::df_du, bp::return_internal_reference<>()), |
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"Jacobian of the contact force"); |
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} |
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}; |
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#define CROCODDYL_ACTION_MODEL_CONTACT_FWDDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionModelContactFwdDynamicsTpl<Scalar> Model; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename Model::StateMultibody State; \ |
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typedef typename Model::ActuationModelAbstract Actuation; \ |
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typedef typename Model::ContactModelMultiple Contacts; \ |
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typedef typename Model::CostModelSum Costs; \ |
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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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"DifferentialActionModelContactFwdDynamics", \ |
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"Differential action model for contact forward dynamics in multibody " \ |
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"systems.\n\n" \ |
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"The contact is modelled as holonomic constraits in the contact frame. " \ |
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"There is also a custom implementation in case of system with " \ |
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"armatures. If you want to include the armature, you need to use " \ |
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"set_armature(). On the other hand, the stack of cost functions are " \ |
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"implemented in CostModelSum().", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ |
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std::shared_ptr<Contacts>, std::shared_ptr<Costs>, \ |
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bp::optional<Scalar, bool>>( \ |
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bp::args("self", "state", "actuation", "contacts", "costs", \ |
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"inv_damping", "enable_force"), \ |
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"Initialize the constrained forward-dynamics action model.\n\n" \ |
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"The damping factor is needed when the contact Jacobian is not " \ |
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"full-rank. Otherwise, a good damping factor could be 1e-12. In " \ |
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"addition, if you have cost based on forces, you need to enable " \ |
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"the computation of the force Jacobians (i.e., " \ |
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"enable_force=True).\n" \ |
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":param state: multibody state\n" \ |
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":param actuation: actuation model\n" \ |
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":param contacts: multiple contact model\n" \ |
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":param costs: stack of cost functions\n" \ |
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":param inv_damping: Damping factor for cholesky decomposition of " \ |
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"JMinvJt (default 0.)\n" \ |
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":param enable_force: Enable the computation of force Jacobians " \ |
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"(default False)")) \ |
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.def(DifferentialActionModelContactFwdDynamicsVisitor<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_ACTION_DATA_CONTACT_FWDDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionDataContactFwdDynamicsTpl<Scalar> Data; \ |
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typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef DifferentialActionModelContactFwdDynamicsTpl<Scalar> Model; \ |
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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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"DifferentialActionDataContactFwdDynamics", \ |
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"Action data for the contact forward dynamics system.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create contact forward-dynamics action data.\n\n" \ |
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":param model: contact forward-dynamics action model")) \ |
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.def(DifferentialActionDataContactFwdDynamicsVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeDifferentialActionContactFwdDynamics() { |
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CROCODDYL_ACTION_MODEL_CONTACT_FWDDYN_PYTHON_BINDINGS(double) |
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CROCODDYL_ACTION_DATA_CONTACT_FWDDYN_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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