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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, CTU, INRIA, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for double | ||
| 11 | #include "crocoddyl/multibody/actions/contact-fwddyn.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct DifferentialActionModelContactFwdDynamicsVisitor | ||
| 21 | : public bp::def_visitor< | ||
| 22 | DifferentialActionModelContactFwdDynamicsVisitor<Model>> { | ||
| 23 | typedef typename Model::Scalar Scalar; | ||
| 24 | typedef typename Model::DifferentialActionDataAbstract Data; | ||
| 25 | typedef typename Model::StateMultibody State; | ||
| 26 | typedef typename Model::ActuationModelAbstract Actuation; | ||
| 27 | typedef typename Model::ContactModelMultiple Contacts; | ||
| 28 | typedef typename Model::CostModelSum Costs; | ||
| 29 | typedef typename Model::ConstraintModelManager Constraints; | ||
| 30 | typedef typename Model::VectorXs VectorXs; | ||
| 31 | template <class PyClass> | ||
| 32 | ✗ | void visit(PyClass& cl) const { | |
| 33 | cl | ||
| 34 | ✗ | .def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, | |
| 35 | std::shared_ptr<Contacts>, std::shared_ptr<Costs>, | ||
| 36 | std::shared_ptr<Constraints>, bp::optional<Scalar, bool>>( | ||
| 37 | bp::args("self", "state", "actuation", "contacts", "costs", | ||
| 38 | "constraints", "inv_damping", "enable_force"), | ||
| 39 | "Initialize the constrained forward-dynamics action model.\n\n" | ||
| 40 | "The damping factor is needed when the contact Jacobian is not " | ||
| 41 | "full-rank. Otherwise, a good damping factor could be 1e-12. In " | ||
| 42 | "addition, if you have cost based on forces, you need to enable " | ||
| 43 | "the computation of the force Jacobians (i.e. enable_force=True).\n" | ||
| 44 | ":param state: multibody state\n" | ||
| 45 | ":param actuation: actuation model\n" | ||
| 46 | ":param contacts: multiple contact model\n" | ||
| 47 | ":param costs: stack of cost functions\n" | ||
| 48 | ":param constraints: stack of constraint functions\n" | ||
| 49 | ":param inv_damping: Damping factor for cholesky decomposition of " | ||
| 50 | "JMinvJt (default 0.)\n" | ||
| 51 | ":param enable_force: Enable the computation of force Jacobians " | ||
| 52 | "(default False)")) | ||
| 53 | ✗ | .def( | |
| 54 | "calc", | ||
| 55 | static_cast<void (Model::*)( | ||
| 56 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 57 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 58 | bp::args("self", "data", "x", "u"), | ||
| 59 | "Compute the next state and cost value.\n\n" | ||
| 60 | "It describes the time-continuous evolution of the multibody " | ||
| 61 | "system with contact. The contacts are modelled as holonomic " | ||
| 62 | "constraints. Additionally it computes the cost value associated " | ||
| 63 | "to this state and control pair.\n" | ||
| 64 | ":param data: contact forward-dynamics action data\n" | ||
| 65 | ":param x: time-continuous state vector\n" | ||
| 66 | ":param u: time-continuous control input") | ||
| 67 | ✗ | .def("calc", | |
| 68 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 69 | const Eigen::Ref<const VectorXs>&)>( | ||
| 70 | &Model::calc), | ||
| 71 | bp::args("self", "data", "x")) | ||
| 72 | ✗ | .def( | |
| 73 | "calcDiff", | ||
| 74 | static_cast<void (Model::*)( | ||
| 75 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 76 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 77 | bp::args("self", "data", "x", "u"), | ||
| 78 | "Compute the derivatives of the differential multibody system and " | ||
| 79 | "its cost functions.\n\n" | ||
| 80 | "It computes the partial derivatives of the differential multibody " | ||
| 81 | "system and the cost function. It assumes that calc has been run " | ||
| 82 | "first. This function builds a quadratic approximation of the " | ||
| 83 | "action model (i.e. dynamical system and cost function).\n" | ||
| 84 | ":param data: contact forward-dynamics action data\n" | ||
| 85 | ":param x: time-continuous state vector\n" | ||
| 86 | ":param u: time-continuous control input\n") | ||
| 87 | ✗ | .def("calcDiff", | |
| 88 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 89 | const Eigen::Ref<const VectorXs>&)>( | ||
| 90 | &Model::calcDiff), | ||
| 91 | bp::args("self", "data", "x")) | ||
| 92 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 93 | "Create the contact forward dynamics differential action data.") | ||
| 94 | ✗ | .add_property("pinocchio", | |
| 95 | bp::make_function(&Model::get_pinocchio, | ||
| 96 | ✗ | bp::return_internal_reference<>()), | |
| 97 | "multibody model (i.e. pinocchio model)") | ||
| 98 | ✗ | .add_property( | |
| 99 | "actuation", | ||
| 100 | bp::make_function(&Model::get_actuation, | ||
| 101 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 102 | "actuation model") | ||
| 103 | ✗ | .add_property( | |
| 104 | "contacts", | ||
| 105 | bp::make_function(&Model::get_contacts, | ||
| 106 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 107 | "multiple contact model") | ||
| 108 | ✗ | .add_property( | |
| 109 | "costs", | ||
| 110 | bp::make_function(&Model::get_costs, | ||
| 111 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 112 | "total cost model") | ||
| 113 | ✗ | .add_property( | |
| 114 | "constraints", | ||
| 115 | bp::make_function(&Model::get_constraints, | ||
| 116 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 117 | "constraint model manager") | ||
| 118 | ✗ | .add_property( | |
| 119 | "armature", | ||
| 120 | bp::make_function(&Model::get_armature, | ||
| 121 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 122 | bp::make_function(&Model::set_armature), | ||
| 123 | "set an armature mechanism in the joints") | ||
| 124 | ✗ | .add_property("JMinvJt_damping", | |
| 125 | bp::make_function(&Model::get_damping_factor), | ||
| 126 | bp::make_function(&Model::set_damping_factor), | ||
| 127 | "Damping factor for cholesky decomposition of JMinvJt"); | ||
| 128 | ✗ | } | |
| 129 | }; | ||
| 130 | |||
| 131 | template <typename Data> | ||
| 132 | struct DifferentialActionDataContactFwdDynamicsVisitor | ||
| 133 | : public bp::def_visitor< | ||
| 134 | DifferentialActionDataContactFwdDynamicsVisitor<Data>> { | ||
| 135 | template <class PyClass> | ||
| 136 | ✗ | void visit(PyClass& cl) const { | |
| 137 | ✗ | cl.add_property( | |
| 138 | "pinocchio", | ||
| 139 | ✗ | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 140 | "pinocchio data") | ||
| 141 | ✗ | .add_property("multibody", | |
| 142 | ✗ | bp::make_getter(&Data::multibody, | |
| 143 | ✗ | bp::return_internal_reference<>()), | |
| 144 | "multibody data") | ||
| 145 | ✗ | .add_property( | |
| 146 | "costs", | ||
| 147 | ✗ | bp::make_getter(&Data::costs, | |
| 148 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 149 | "total cost data") | ||
| 150 | ✗ | .add_property( | |
| 151 | "constraints", | ||
| 152 | ✗ | bp::make_getter(&Data::constraints, | |
| 153 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 154 | "constraint data") | ||
| 155 | ✗ | .add_property( | |
| 156 | "Kinv", | ||
| 157 | ✗ | bp::make_getter(&Data::Kinv, bp::return_internal_reference<>()), | |
| 158 | "inverse of the KKT matrix") | ||
| 159 | ✗ | .add_property( | |
| 160 | "df_dx", | ||
| 161 | ✗ | bp::make_getter(&Data::df_dx, bp::return_internal_reference<>()), | |
| 162 | "Jacobian of the contact force") | ||
| 163 | ✗ | .add_property( | |
| 164 | "df_du", | ||
| 165 | ✗ | bp::make_getter(&Data::df_du, bp::return_internal_reference<>()), | |
| 166 | "Jacobian of the contact force"); | ||
| 167 | ✗ | } | |
| 168 | }; | ||
| 169 | |||
| 170 | #define CROCODDYL_ACTION_MODEL_CONTACT_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 171 | typedef DifferentialActionModelContactFwdDynamicsTpl<Scalar> Model; \ | ||
| 172 | typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 173 | typedef typename Model::StateMultibody State; \ | ||
| 174 | typedef typename Model::ActuationModelAbstract Actuation; \ | ||
| 175 | typedef typename Model::ContactModelMultiple Contacts; \ | ||
| 176 | typedef typename Model::CostModelSum Costs; \ | ||
| 177 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 178 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 179 | "DifferentialActionModelContactFwdDynamics", \ | ||
| 180 | "Differential action model for contact forward dynamics in multibody " \ | ||
| 181 | "systems.\n\n" \ | ||
| 182 | "The contact is modelled as holonomic constraits in the contact frame. " \ | ||
| 183 | "There is also a custom implementation in case of system with " \ | ||
| 184 | "armatures. If you want to include the armature, you need to use " \ | ||
| 185 | "set_armature(). On the other hand, the stack of cost functions are " \ | ||
| 186 | "implemented in CostModelSum().", \ | ||
| 187 | bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ | ||
| 188 | std::shared_ptr<Contacts>, std::shared_ptr<Costs>, \ | ||
| 189 | bp::optional<Scalar, bool>>( \ | ||
| 190 | bp::args("self", "state", "actuation", "contacts", "costs", \ | ||
| 191 | "inv_damping", "enable_force"), \ | ||
| 192 | "Initialize the constrained forward-dynamics action model.\n\n" \ | ||
| 193 | "The damping factor is needed when the contact Jacobian is not " \ | ||
| 194 | "full-rank. Otherwise, a good damping factor could be 1e-12. In " \ | ||
| 195 | "addition, if you have cost based on forces, you need to enable " \ | ||
| 196 | "the computation of the force Jacobians (i.e., " \ | ||
| 197 | "enable_force=True).\n" \ | ||
| 198 | ":param state: multibody state\n" \ | ||
| 199 | ":param actuation: actuation model\n" \ | ||
| 200 | ":param contacts: multiple contact model\n" \ | ||
| 201 | ":param costs: stack of cost functions\n" \ | ||
| 202 | ":param inv_damping: Damping factor for cholesky decomposition of " \ | ||
| 203 | "JMinvJt (default 0.)\n" \ | ||
| 204 | ":param enable_force: Enable the computation of force Jacobians " \ | ||
| 205 | "(default False)")) \ | ||
| 206 | .def(DifferentialActionModelContactFwdDynamicsVisitor<Model>()) \ | ||
| 207 | .def(CastVisitor<Model>()) \ | ||
| 208 | .def(PrintableVisitor<Model>()) \ | ||
| 209 | .def(CopyableVisitor<Model>()); | ||
| 210 | |||
| 211 | #define CROCODDYL_ACTION_DATA_CONTACT_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 212 | typedef DifferentialActionDataContactFwdDynamicsTpl<Scalar> Data; \ | ||
| 213 | typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 214 | typedef DifferentialActionModelContactFwdDynamicsTpl<Scalar> Model; \ | ||
| 215 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 216 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 217 | "DifferentialActionDataContactFwdDynamics", \ | ||
| 218 | "Action data for the contact forward dynamics system.", \ | ||
| 219 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 220 | "Create contact forward-dynamics action data.\n\n" \ | ||
| 221 | ":param model: contact forward-dynamics action model")) \ | ||
| 222 | .def(DifferentialActionDataContactFwdDynamicsVisitor<Data>()) \ | ||
| 223 | .def(CopyableVisitor<Data>()); | ||
| 224 | |||
| 225 | ✗ | void exposeDifferentialActionContactFwdDynamics() { | |
| 226 | ✗ | CROCODDYL_ACTION_MODEL_CONTACT_FWDDYN_PYTHON_BINDINGS(double) | |
| 227 | ✗ | CROCODDYL_ACTION_DATA_CONTACT_FWDDYN_PYTHON_BINDINGS(double) | |
| 228 | ✗ | } | |
| 229 | |||
| 230 | } // namespace python | ||
| 231 | } // namespace crocoddyl | ||
| 232 |