| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/data/contacts.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 10 | 10 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/data/contacts.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Data> | ||
| 17 | struct DataCollectorContactVisitor | ||
| 18 | : public bp::def_visitor<DataCollectorContactVisitor<Data>> { | ||
| 19 | template <class PyClass> | ||
| 20 | 40 | void visit(PyClass& cl) const { | |
| 21 |
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40 | cl.add_property( |
| 22 | "contacts", | ||
| 23 | bp::make_getter(&Data::contacts, | ||
| 24 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 25 | "contacts data"); | ||
| 26 | 40 | } | |
| 27 | }; | ||
| 28 | |||
| 29 | #define CROCODDYL_DATA_COLLECTOR_CONTACT_PYTHON_BINDINGS(Scalar) \ | ||
| 30 | typedef DataCollectorContactTpl<Scalar> Data; \ | ||
| 31 | typedef DataCollectorAbstractTpl<Scalar> DataBase; \ | ||
| 32 | typedef ContactDataMultipleTpl<Scalar> ContactData; \ | ||
| 33 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 34 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 35 | "DataCollectorContact", "Contact data collector.\n\n", \ | ||
| 36 | bp::init<std::shared_ptr<ContactData>>( \ | ||
| 37 | bp::args("self", "contacts"), \ | ||
| 38 | "Create contact data collection.\n\n" \ | ||
| 39 | ":param contacts: contacts data")) \ | ||
| 40 | .def(DataCollectorContactVisitor<Data>()) \ | ||
| 41 | .def(CopyableVisitor<Data>()); | ||
| 42 | |||
| 43 | #define CROCODDYL_DATA_COLLECTOR_MULTIBODY_CONTACT_PYTHON_BINDINGS(Scalar) \ | ||
| 44 | typedef DataCollectorMultibodyInContactTpl<Scalar> Data; \ | ||
| 45 | typedef DataCollectorMultibodyTpl<Scalar> DataBase1; \ | ||
| 46 | typedef DataCollectorContactTpl<Scalar> DataBase2; \ | ||
| 47 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 48 | typedef ContactDataMultipleTpl<Scalar> ContactData; \ | ||
| 49 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 50 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 51 | "DataCollectorMultibodyInContact", \ | ||
| 52 | "Data collector for multibody systems in contact.\n\n", \ | ||
| 53 | bp::init<PinocchioData*, std::shared_ptr<ContactData>>( \ | ||
| 54 | bp::args("self", "pinocchio", "contacts"), \ | ||
| 55 | "Create multibody data collection.\n\n" \ | ||
| 56 | ":param pinocchio: Pinocchio data\n" \ | ||
| 57 | ":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ | ||
| 58 | 2>()]) \ | ||
| 59 | .def(CopyableVisitor<Data>()); | ||
| 60 | |||
| 61 | #define CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS(Scalar) \ | ||
| 62 | typedef DataCollectorActMultibodyInContactTpl<Scalar> Data; \ | ||
| 63 | typedef DataCollectorMultibodyInContactTpl<Scalar> DataBase1; \ | ||
| 64 | typedef DataCollectorActuationTpl<Scalar> DataBase2; \ | ||
| 65 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 66 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 67 | typedef ContactDataMultipleTpl<Scalar> ContactData; \ | ||
| 68 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 69 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 70 | "DataCollectorActMultibodyInContact", \ | ||
| 71 | "Data collector for actuated multibody systems in contact.\n\n", \ | ||
| 72 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ | ||
| 73 | std::shared_ptr<ContactData>>( \ | ||
| 74 | bp::args("self", "pinocchio", "actuation", "contacts"), \ | ||
| 75 | "Create multibody data collection.\n\n" \ | ||
| 76 | ":param pinocchio: Pinocchio data\n" \ | ||
| 77 | ":param actuation: actuation data\n" \ | ||
| 78 | ":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ | ||
| 79 | 2>()]) \ | ||
| 80 | .def(CopyableVisitor<Data>()); | ||
| 81 | |||
| 82 | #define CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS( \ | ||
| 83 | Scalar) \ | ||
| 84 | typedef DataCollectorJointActMultibodyInContactTpl<Scalar> Data; \ | ||
| 85 | typedef DataCollectorMultibodyInContactTpl<Scalar> DataBase1; \ | ||
| 86 | typedef DataCollectorActuationTpl<Scalar> DataBase2; \ | ||
| 87 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 88 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 89 | typedef JointDataAbstractTpl<Scalar> JointData; \ | ||
| 90 | typedef ContactDataMultipleTpl<Scalar> ContactData; \ | ||
| 91 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 92 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 93 | "DataCollectorJointActMultibodyInContact", \ | ||
| 94 | "Data collector for actuated-joint multibody systems in contact.\n\n", \ | ||
| 95 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ | ||
| 96 | std::shared_ptr<JointData>, std::shared_ptr<ContactData>>( \ | ||
| 97 | bp::args("self", "pinocchio", "actuation", "joint", "contacts"), \ | ||
| 98 | "Create multibody data collection.\n\n" \ | ||
| 99 | ":param pinocchio: Pinocchio data\n" \ | ||
| 100 | ":param actuation: actuation data\n" \ | ||
| 101 | ":param joint: joint data\n" \ | ||
| 102 | ":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ | ||
| 103 | 2>()]) \ | ||
| 104 | .def(CopyableVisitor<Data>()); | ||
| 105 | |||
| 106 | 10 | void exposeDataCollectorContacts() { | |
| 107 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_DATA_COLLECTOR_CONTACT_PYTHON_BINDINGS) |
| 108 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 109 | CROCODDYL_DATA_COLLECTOR_MULTIBODY_CONTACT_PYTHON_BINDINGS) | ||
| 110 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 111 | CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS) | ||
| 112 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 113 | CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS) | ||
| 114 | 10 | } | |
| 115 | |||
| 116 | } // namespace python | ||
| 117 | } // namespace crocoddyl | ||
| 118 |