| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
// Auto-generated file for float |
| 10 |
|
|
#include "crocoddyl/multibody/actions/contact-invdyn.hpp" |
| 11 |
|
|
|
| 12 |
|
|
#include "python/crocoddyl/core/diff-action-base.hpp" |
| 13 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace python { |
| 17 |
|
|
|
| 18 |
|
|
template <typename Model> |
| 19 |
|
|
struct DifferentialActionModelContactInvDynamicsVisitor |
| 20 |
|
|
: public bp::def_visitor< |
| 21 |
|
|
DifferentialActionModelContactInvDynamicsVisitor<Model>> { |
| 22 |
|
|
typedef typename Model::DifferentialActionDataAbstract Data; |
| 23 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 24 |
|
|
template <class PyClass> |
| 25 |
|
✗ |
void visit(PyClass& cl) const { |
| 26 |
|
✗ |
cl.def("calc", |
| 27 |
|
|
static_cast<void (Model::*)( |
| 28 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 29 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
| 30 |
|
|
bp::args("self", "data", "x", "u"), |
| 31 |
|
|
"Compute the next state, cost value and constraints.\n\n" |
| 32 |
|
|
":param data: contact inverse-dynamics data\n" |
| 33 |
|
|
":param x: state point (dim. state.nx)\n" |
| 34 |
|
|
":param u: control input (dim. nu)") |
| 35 |
|
✗ |
.def("calc", |
| 36 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 37 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 38 |
|
|
&Model::calc), |
| 39 |
|
|
bp::args("self", "data", "x")) |
| 40 |
|
✗ |
.def( |
| 41 |
|
|
"calcDiff", |
| 42 |
|
|
static_cast<void (Model::*)( |
| 43 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 44 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
| 45 |
|
|
bp::args("self", "data", "x", "u"), |
| 46 |
|
|
"Compute the derivatives of the differential multibody system, and " |
| 47 |
|
|
"its cost and constraint functions.\n\n" |
| 48 |
|
|
"It computes the partial derivatives of the differential multibody " |
| 49 |
|
|
"system, the cost and constraint functions. It assumes that calc " |
| 50 |
|
|
"has been run first. This function builds a quadratic " |
| 51 |
|
|
"approximation of the action model (i.e., dynamical system, cost " |
| 52 |
|
|
"and constraint functions).\n" |
| 53 |
|
|
":param data: contact inverse-dynamics data\n" |
| 54 |
|
|
":param x: state point (dim. state.nx)\n" |
| 55 |
|
|
":param u: control input (dim. nu)") |
| 56 |
|
✗ |
.def("calcDiff", |
| 57 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 58 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 59 |
|
|
&Model::calcDiff), |
| 60 |
|
|
bp::args("self", "data", "x")) |
| 61 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 62 |
|
|
"Create the contact inverse-dynamics differential action data.") |
| 63 |
|
✗ |
.add_property( |
| 64 |
|
|
"actuation", |
| 65 |
|
|
bp::make_function(&Model::get_actuation, |
| 66 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 67 |
|
|
"actuation model") |
| 68 |
|
✗ |
.add_property( |
| 69 |
|
|
"contacts", |
| 70 |
|
|
bp::make_function(&Model::get_contacts, |
| 71 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 72 |
|
|
"multiple contact model") |
| 73 |
|
✗ |
.add_property( |
| 74 |
|
|
"costs", |
| 75 |
|
|
bp::make_function(&Model::get_costs, |
| 76 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 77 |
|
|
"total cost model") |
| 78 |
|
✗ |
.add_property( |
| 79 |
|
|
"constraints", |
| 80 |
|
|
bp::make_function(&Model::get_constraints, |
| 81 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 82 |
|
|
"constraint model manager"); |
| 83 |
|
|
} |
| 84 |
|
|
}; |
| 85 |
|
|
|
| 86 |
|
|
template <typename Model> |
| 87 |
|
|
struct DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor |
| 88 |
|
|
: public bp::def_visitor< |
| 89 |
|
|
DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor< |
| 90 |
|
|
Model>> { |
| 91 |
|
|
typedef typename Model::ResidualDataAbstract Data; |
| 92 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 93 |
|
|
template <class PyClass> |
| 94 |
|
✗ |
void visit(PyClass& cl) const { |
| 95 |
|
✗ |
cl.def("calc", |
| 96 |
|
|
static_cast<void (Model::*)( |
| 97 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 98 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
| 99 |
|
|
bp::args("self", "data", "x", "u"), |
| 100 |
|
|
"Compute the actuation residual.\n\n" |
| 101 |
|
|
":param data: residual data\n" |
| 102 |
|
|
":param x: state point (dim. state.nx)\n" |
| 103 |
|
|
":param u: control input (dim. nu)") |
| 104 |
|
✗ |
.def("calc", |
| 105 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 106 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 107 |
|
|
&Model::calc), |
| 108 |
|
|
bp::args("self", "data", "x")) |
| 109 |
|
✗ |
.def( |
| 110 |
|
|
"calcDiff", |
| 111 |
|
|
static_cast<void (Model::*)( |
| 112 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 113 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
| 114 |
|
|
bp::args("self", "data", "x", "u"), |
| 115 |
|
|
"Compute the Jacobians of the actuation residual.\n\n" |
| 116 |
|
|
"It assumes that calc has been run first.\n" |
| 117 |
|
|
":param data: action data\n" |
| 118 |
|
|
":param x: state point (dim. state.nx)\n" |
| 119 |
|
|
":param u: control input (dim. nu)\n") |
| 120 |
|
✗ |
.def("calcDiff", |
| 121 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 122 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 123 |
|
|
&Model::calcDiff), |
| 124 |
|
|
bp::args("self", "data", "x")) |
| 125 |
|
✗ |
.def("createData", &Model::createData, |
| 126 |
|
✗ |
bp::with_custodian_and_ward_postcall<0, 2>(), |
| 127 |
|
|
bp::args("self", "data"), |
| 128 |
|
|
"Create the actuation residual data.\n\n" |
| 129 |
|
|
"Each residual model has its own data that needs to be allocated. " |
| 130 |
|
|
"This function returns the allocated data for the actuation " |
| 131 |
|
|
"residual.\n" |
| 132 |
|
|
":param data: shared data\n" |
| 133 |
|
|
":return residual data."); |
| 134 |
|
|
} |
| 135 |
|
|
}; |
| 136 |
|
|
|
| 137 |
|
|
template <typename Model> |
| 138 |
|
|
struct DifferentialActionModelContactInvDynamicsResidualModelContactVisitor |
| 139 |
|
|
: public bp::def_visitor< |
| 140 |
|
|
DifferentialActionModelContactInvDynamicsResidualModelContactVisitor< |
| 141 |
|
|
Model>> { |
| 142 |
|
|
typedef typename Model::ResidualDataAbstract Data; |
| 143 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 144 |
|
|
template <class PyClass> |
| 145 |
|
✗ |
void visit(PyClass& cl) const { |
| 146 |
|
✗ |
cl.def("calc", |
| 147 |
|
|
static_cast<void (Model::*)( |
| 148 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 149 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
| 150 |
|
|
bp::args("self", "data", "x", "u"), |
| 151 |
|
|
"Compute the contact-acceleration residual.\n\n" |
| 152 |
|
|
":param data: residual data\n" |
| 153 |
|
|
":param x: state vector\n" |
| 154 |
|
|
":param u: control input") |
| 155 |
|
✗ |
.def("calc", |
| 156 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 157 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 158 |
|
|
&Model::calc), |
| 159 |
|
|
bp::args("self", "data", "x")) |
| 160 |
|
✗ |
.def( |
| 161 |
|
|
"calcDiff", |
| 162 |
|
|
static_cast<void (Model::*)( |
| 163 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 164 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
| 165 |
|
|
bp::args("self", "data", "x", "u"), |
| 166 |
|
|
"Compute the Jacobians of the contact-acceleration residual.\n\n" |
| 167 |
|
|
"It assumes that calc has been run first.\n" |
| 168 |
|
|
":param data: action data\n" |
| 169 |
|
|
":param x: state vector\n" |
| 170 |
|
|
":param u: control input\n") |
| 171 |
|
✗ |
.def("calcDiff", |
| 172 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 173 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 174 |
|
|
&Model::calcDiff), |
| 175 |
|
|
bp::args("self", "data", "x")) |
| 176 |
|
✗ |
.def("createData", &Model::createData, |
| 177 |
|
✗ |
bp::with_custodian_and_ward_postcall<0, 2>(), |
| 178 |
|
|
bp::args("self", "data"), |
| 179 |
|
|
"Create the contact-acceleration residual data.\n\n" |
| 180 |
|
|
"Each residual model has its own data that needs to be allocated. " |
| 181 |
|
|
"This function returns the allocated data for the " |
| 182 |
|
|
"contact-acceleration residual.\n" |
| 183 |
|
|
":param data: shared data\n" |
| 184 |
|
|
":return residual data."); |
| 185 |
|
|
} |
| 186 |
|
|
}; |
| 187 |
|
|
|
| 188 |
|
|
template <typename Data> |
| 189 |
|
|
struct DifferentialActionDataContactInvDynamicsVisitor |
| 190 |
|
|
: public bp::def_visitor< |
| 191 |
|
|
DifferentialActionDataContactInvDynamicsVisitor<Data>> { |
| 192 |
|
|
template <class PyClass> |
| 193 |
|
✗ |
void visit(PyClass& cl) const { |
| 194 |
|
✗ |
cl.add_property( |
| 195 |
|
|
"pinocchio", |
| 196 |
|
✗ |
bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
| 197 |
|
|
"pinocchio data") |
| 198 |
|
✗ |
.add_property("multibody", |
| 199 |
|
|
bp::make_getter(&Data::multibody, |
| 200 |
|
✗ |
bp::return_internal_reference<>()), |
| 201 |
|
|
"multibody data") |
| 202 |
|
✗ |
.add_property( |
| 203 |
|
|
"costs", |
| 204 |
|
|
bp::make_getter(&Data::costs, |
| 205 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 206 |
|
|
"total cost data") |
| 207 |
|
✗ |
.add_property( |
| 208 |
|
|
"constraints", |
| 209 |
|
|
bp::make_getter(&Data::constraints, |
| 210 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 211 |
|
|
"constraint data"); |
| 212 |
|
|
} |
| 213 |
|
|
}; |
| 214 |
|
|
|
| 215 |
|
|
#define CROCODDYL_ACTION_MODEL_CONTACT_INVDYN_PYTHON_BINDINGS(Scalar) \ |
| 216 |
|
|
typedef DifferentialActionModelContactInvDynamicsTpl<Scalar> Model; \ |
| 217 |
|
|
typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ |
| 218 |
|
|
typedef typename Model::StateMultibody State; \ |
| 219 |
|
|
typedef typename Model::ActuationModelAbstract Actuation; \ |
| 220 |
|
|
typedef typename Model::ContactModelMultiple Contacts; \ |
| 221 |
|
|
typedef typename Model::CostModelSum Costs; \ |
| 222 |
|
|
typedef typename Model::ConstraintModelManager Constraints; \ |
| 223 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 224 |
|
|
bp::scope model_outer = \ |
| 225 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 226 |
|
|
"DifferentialActionModelContactInvDynamics", \ |
| 227 |
|
|
"Differential action model for inverse dynamics in multibody " \ |
| 228 |
|
|
"systems with contacts.\n\n" \ |
| 229 |
|
|
"This class implements forward kinematic with holonomic contact " \ |
| 230 |
|
|
"constraints (defined at the acceleration level) and " \ |
| 231 |
|
|
"inverse-dynamics computation using the Recursive Newton Euler " \ |
| 232 |
|
|
"Algorithm (RNEA). On the other hand, the stack of cost and " \ |
| 233 |
|
|
"constraint functions are implemented in ConstraintModelManager() " \ |
| 234 |
|
|
"and CostModelSum(), respectively.", \ |
| 235 |
|
|
bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ |
| 236 |
|
|
std::shared_ptr<Contacts>, std::shared_ptr<Costs>, \ |
| 237 |
|
|
bp::optional<std::shared_ptr<Constraints>>>( \ |
| 238 |
|
|
bp::args("self", "state", "actuation", "contacts", "costs", \ |
| 239 |
|
|
"constraints"), \ |
| 240 |
|
|
"Initialize the inverse-dynamics action model for system with " \ |
| 241 |
|
|
"contact.\n\n" \ |
| 242 |
|
|
"It describes the kinematic evolution of the multibody system " \ |
| 243 |
|
|
"with contacts, and computes the needed torques using " \ |
| 244 |
|
|
"inverse-dynamics.\n." \ |
| 245 |
|
|
":param state: multibody state\n" \ |
| 246 |
|
|
":param actuation: abstract actuation model\n" \ |
| 247 |
|
|
":param contacts: stack of contact model\n" \ |
| 248 |
|
|
":param costs: stack of cost functions\n" \ |
| 249 |
|
|
":param constraints: stack of constraint functions")) \ |
| 250 |
|
|
.def(DifferentialActionModelContactInvDynamicsVisitor<Model>()) \ |
| 251 |
|
|
.def(CastVisitor<Model>()) \ |
| 252 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 253 |
|
|
.def(CopyableVisitor<Model>()); \ |
| 254 |
|
|
typedef typename Model::ResidualModelActuation ResidualModelActuation; \ |
| 255 |
|
|
typedef typename ResidualModelActuation::Base ResidualModelBase; \ |
| 256 |
|
|
bp::register_ptr_to_python<std::shared_ptr<ResidualModelActuation>>(); \ |
| 257 |
|
|
bp::class_<ResidualModelActuation, bp::bases<ResidualModelBase>>( \ |
| 258 |
|
|
"ResidualModelActuation", \ |
| 259 |
|
|
"This residual function enforces the torques of under-actuated joints " \ |
| 260 |
|
|
"(e.g., floating-base joints) to be zero. We compute these torques and " \ |
| 261 |
|
|
"their derivatives using RNEA inside " \ |
| 262 |
|
|
"DifferentialActionModelContactInvDynamics.", \ |
| 263 |
|
|
bp::init<std::shared_ptr<State>, std::size_t, std::size_t>( \ |
| 264 |
|
|
bp::args("self", "state", "nu", "nc"), \ |
| 265 |
|
|
"Initialize the actuation residual model.\n\n" \ |
| 266 |
|
|
":param nu: dimension of control vector\n" \ |
| 267 |
|
|
":param nc: number of the contacts")) \ |
| 268 |
|
|
.def( \ |
| 269 |
|
|
DifferentialActionModelContactInvDynamicsResidualModelActuationVisitor< \ |
| 270 |
|
|
ResidualModelActuation>()) \ |
| 271 |
|
|
.def(CopyableVisitor<ResidualModelActuation>()); \ |
| 272 |
|
|
typedef typename Model::ResidualModelContact ResidualModelContact; \ |
| 273 |
|
|
bp::register_ptr_to_python<std::shared_ptr<ResidualModelContact>>(); \ |
| 274 |
|
|
bp::class_<ResidualModelContact, bp::bases<ResidualModelBase>>( \ |
| 275 |
|
|
"ResidualModelContact", \ |
| 276 |
|
|
"This residual function for the contact acceleration, i.e., r = a0, " \ |
| 277 |
|
|
"where a0 is the desired contact acceleration which also considers the " \ |
| 278 |
|
|
"Baumgarte stabilization.", \ |
| 279 |
|
|
bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, std::size_t, \ |
| 280 |
|
|
std::size_t>( \ |
| 281 |
|
|
bp::args("self", "state", "id", "nr", "nc"), \ |
| 282 |
|
|
"Initialize the contact-acceleration residual model.\n\n" \ |
| 283 |
|
|
":param id: contact id\n" \ |
| 284 |
|
|
":param nr: dimension of contact residual\n" \ |
| 285 |
|
|
":param nc: dimension of contact vector")) \ |
| 286 |
|
|
.def( \ |
| 287 |
|
|
DifferentialActionModelContactInvDynamicsResidualModelContactVisitor< \ |
| 288 |
|
|
ResidualModelContact>()) \ |
| 289 |
|
|
.def(CopyableVisitor<ResidualModelContact>()); |
| 290 |
|
|
|
| 291 |
|
|
#define CROCODDYL_ACTION_DATA_CONTACT_INVDYN_PYTHON_BINDINGS(Scalar) \ |
| 292 |
|
|
typedef DifferentialActionDataContactInvDynamicsTpl<Scalar> Data; \ |
| 293 |
|
|
typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ |
| 294 |
|
|
typedef DifferentialActionModelContactInvDynamicsTpl<Scalar> Model; \ |
| 295 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 296 |
|
|
bp::scope data_outer = \ |
| 297 |
|
|
bp::class_<Data, bp::bases<DataBase>>( \ |
| 298 |
|
|
"DifferentialActionDataContactInvDynamics", \ |
| 299 |
|
|
"Differential action data for the inverse-dynamics for system with " \ |
| 300 |
|
|
"contact.", \ |
| 301 |
|
|
bp::init<Model*>( \ |
| 302 |
|
|
bp::args("self", "model"), \ |
| 303 |
|
|
"Create inverse-dynamics action data for system with " \ |
| 304 |
|
|
"contacts.\n\n" \ |
| 305 |
|
|
":param model: contact inverse-dynamics action model")) \ |
| 306 |
|
|
.def(DifferentialActionDataContactInvDynamicsVisitor<Data>()) \ |
| 307 |
|
|
.def(CopyableVisitor<Data>()); \ |
| 308 |
|
|
typedef typename Model::ResidualModelActuation ResidualModelActuation; \ |
| 309 |
|
|
typedef typename Data::ResidualDataActuation ResidualDataActuation; \ |
| 310 |
|
|
typedef typename ResidualDataActuation::Base ResidualDataBase; \ |
| 311 |
|
|
typedef \ |
| 312 |
|
|
typename ResidualModelActuation::DataCollectorAbstract DataCollector; \ |
| 313 |
|
|
bp::register_ptr_to_python<std::shared_ptr<ResidualDataActuation>>(); \ |
| 314 |
|
|
bp::class_<ResidualDataActuation, bp::bases<ResidualDataBase>>( \ |
| 315 |
|
|
"ResidualDataActuation", "Data for actuation residual.\n\n", \ |
| 316 |
|
|
bp::init<ResidualModelActuation*, DataCollector*>( \ |
| 317 |
|
|
bp::args("self", "model", "data"), \ |
| 318 |
|
|
"Create actuation residual data.\n\n" \ |
| 319 |
|
|
":param model: actuation residual model\n" \ |
| 320 |
|
|
":param data: shared data")[bp::with_custodian_and_ward< \ |
| 321 |
|
|
1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
| 322 |
|
|
.def(CopyableVisitor<ResidualDataActuation>()); \ |
| 323 |
|
|
typedef typename Model::ResidualModelContact ResidualModelContact; \ |
| 324 |
|
|
typedef typename Data::ResidualDataContact ResidualDataContact; \ |
| 325 |
|
|
bp::register_ptr_to_python<std::shared_ptr<ResidualDataContact>>(); \ |
| 326 |
|
|
bp::class_<ResidualDataContact, bp::bases<ResidualDataBase>>( \ |
| 327 |
|
|
"ResidualDataContact", "Data for contact acceleration residual.\n\n", \ |
| 328 |
|
|
bp::init<ResidualModelContact*, DataCollector*, std::size_t>( \ |
| 329 |
|
|
bp::args("self", "model", "data", "id"), \ |
| 330 |
|
|
"Create contact-acceleration residual data.\n\n" \ |
| 331 |
|
|
":param model: contact-acceleration residual model\n" \ |
| 332 |
|
|
":param data: shared data\n" \ |
| 333 |
|
|
":param id: contact id")[bp::with_custodian_and_ward< \ |
| 334 |
|
|
1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
| 335 |
|
|
.add_property( \ |
| 336 |
|
|
"contact", \ |
| 337 |
|
|
bp::make_getter(&ResidualDataContact::contact, \ |
| 338 |
|
|
bp::return_value_policy<bp::return_by_value>()), \ |
| 339 |
|
|
"contact data associated with the current residual") \ |
| 340 |
|
|
.def(CopyableVisitor<ResidualDataContact>()); |
| 341 |
|
|
|
| 342 |
|
✗ |
void exposeDifferentialActionContactInvDynamics() { |
| 343 |
|
✗ |
CROCODDYL_ACTION_MODEL_CONTACT_INVDYN_PYTHON_BINDINGS(float) |
| 344 |
|
✗ |
CROCODDYL_ACTION_DATA_CONTACT_INVDYN_PYTHON_BINDINGS(float) |
| 345 |
|
|
} |
| 346 |
|
|
|
| 347 |
|
|
} // namespace python |
| 348 |
|
|
} // namespace crocoddyl |
| 349 |
|
|
|