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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, |
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// University of Trento, Heriot-Watt University |
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// Copyright note valid unless otherwise controld 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 "python/crocoddyl/core/control-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/vector-converter.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 ControlParametrizationModelAbstractVisitor |
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: public bp::def_visitor< |
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ControlParametrizationModelAbstractVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "t", "u"), |
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"Compute the control inputs.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param u: control parameters (dim control.nu)") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "t", "u"), |
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"Compute the Jacobian of the control inputs with respect to the " |
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"control parameters.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param u: control parameters (dim control.nu)") |
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.def("createData", &Model::createData, &Model::default_createData, |
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bp::args("self"), |
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"Create the control-parametrization data.\n\n" |
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"Each control parametrization model has its own data that needs " |
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"to be allocated. This function returns the allocated data for a " |
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"predefined control parametrization model.\n" |
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":return data.") |
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.def("params", pure_virtual(&Model::params), |
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bp::args("self", "data", "t", "w"), |
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"Update the control parameters u for a specified time t given the " |
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"control input w.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param w: control inputs (dim control.nw)") |
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.def("convertBounds", pure_virtual(&Model::convertBounds_wrap), |
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bp::args("self", "w_lb", "w_ub"), |
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"Convert the bounds on the control inputs w to bounds on the " |
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"control parameters u.\n\n" |
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":param w_lb: control lower bounds (dim control.nw)\n" |
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":param w_ub: control upper bounds (dim control.nw)\n" |
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":return p_lb, p_ub: lower and upper bounds on the control " |
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"parameters (dim control.nu)") |
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.def("multiplyByJacobian", |
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pure_virtual(&Model::multiplyByJacobian_wrap), |
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bp::args("self", "data", "A"), |
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"Compute the product between the given matrix A and the " |
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"derivative of the control input with respect to the control " |
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"parameters (i.e., A*dw_du).\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim na x control.nw)\n" |
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":return Product between A and the partial derivative of the calc " |
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"function (dim na x control.nu)") |
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.def("multiplyJacobianTransposeBy", |
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pure_virtual(&Model::multiplyJacobianTransposeBy_wrap), |
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bp::args("self", "data", "A"), |
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"Compute the product between the transpose of the derivative of " |
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"the control input with respect to the control parameters and a " |
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"given matrix A (i.e., dw_du^T*A).\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim control.nw x na)\n" |
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":return Product between the partial derivative of the calc " |
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"function (transposed) and A (dim control.nu x " |
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"na)") |
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.add_property("nw", bp::make_function(&Model::get_nw), |
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"dimension of control inputs") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of the control parameters"); |
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} |
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}; |
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template <typename Data> |
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struct ControlParametrizationDataAbstractVisitor |
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: public bp::def_visitor<ControlParametrizationDataAbstractVisitor<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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"w", bp::make_getter(&Data::w, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::w), "differential control") |
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.add_property( |
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"u", bp::make_getter(&Data::u, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::u), "control parameters") |
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.add_property( |
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"dw_du", |
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bp::make_getter(&Data::dw_du, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dw_du), |
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"Jacobian of the differential control wrt the control parameters"); |
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} |
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}; |
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#define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_ABSTRACT_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ControlParametrizationModelAbstractTpl<Scalar> Model; \ |
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typedef ControlParametrizationModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef std::shared_ptr<Model> ModelPtr; \ |
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StdVectorPythonVisitor<std::vector<ModelPtr>, true>::expose( \ |
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"StdVec_ControlParametrizationModel"); \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ControlParametrizationModelAbstract", \ |
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"Abstract class for the control parametrization.\n\n" \ |
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"A control is a function of time (normalized in [0,1]) and the control " \ |
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"parameters u.", \ |
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bp::init<std::size_t, std::size_t>( \ |
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bp::args("self", "nw", "nu"), \ |
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"Initialize the control dimensions.\n\n" \ |
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":param nw: dimension of control inputs\n" \ |
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":param nu: dimension of control parameters")) \ |
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.def(ControlParametrizationModelAbstractVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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// .def(PrintableVisitor<Model_wrap>()) |
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#define CROCODDYL_CONTROL_PARAMETRIZATION_DATA_ABSTRACT_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ControlParametrizationDataAbstractTpl<Scalar> Data; \ |
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typedef ControlParametrizationModelAbstractTpl<Scalar> Model; \ |
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typedef std::shared_ptr<Data> DataPtr; \ |
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StdVectorPythonVisitor<std::vector<DataPtr>, true>::expose( \ |
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"StdVec_ControlParametrizationData"); \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"ControlParametrizationDataAbstract", \ |
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"Abstract class for control parametrization data.\n", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create common data shared between control " \ |
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"parametrization models.\n\n" \ |
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":param model: control parametrization model")) \ |
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.def(ControlParametrizationDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeControlParametrizationAbstract() { |
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CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_CONTROL_PARAMETRIZATION_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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