| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/residuals/control.cpp |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 24 | 25 | 96.0% |
| Branches: | 21 | 42 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, 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/core/residuals/control.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/core.hpp" | ||
| 12 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeResidualControl() { | |
| 18 | 10 | bp::register_ptr_to_python<std::shared_ptr<ResidualModelControl> >(); | |
| 19 | |||
| 20 |
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10 | bp::class_<ResidualModelControl, bp::bases<ResidualModelAbstract> >( |
| 21 | "ResidualModelControl", | ||
| 22 | "This residual function defines a residual vector as r = u - uref, with " | ||
| 23 | "u and uref as the current and " | ||
| 24 | "reference\n" | ||
| 25 | "control, respectively.", | ||
| 26 |
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10 | bp::init<std::shared_ptr<StateAbstract>, Eigen::VectorXd>( |
| 27 | 20 | bp::args("self", "state", "uref"), | |
| 28 | "Initialize the control residual model.\n\n" | ||
| 29 | ":param state: state description\n" | ||
| 30 | ":param uref: reference control")) | ||
| 31 |
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10 | .def(bp::init<std::shared_ptr<StateAbstract>, std::size_t>( |
| 32 |
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20 | bp::args("self", "state", "nu"), |
| 33 | "Initialize the control residual model.\n\n" | ||
| 34 | "The default reference control is obtained from np.zero(nu).\n" | ||
| 35 | ":param state: state description\n" | ||
| 36 | ":param nu: dimension of the control vector")) | ||
| 37 |
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10 | .def(bp::init<std::shared_ptr<StateAbstract> >( |
| 38 |
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20 | bp::args("self", "state"), |
| 39 | "Initialize the control residual model.\n\n" | ||
| 40 | "The default reference control is obtained from np.zero(nu).\n" | ||
| 41 | ":param state: state description")) | ||
| 42 | .def<void (ResidualModelControl::*)( | ||
| 43 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 44 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 45 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 46 | "calc", &ResidualModelControl::calc, | ||
| 47 |
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20 | bp::args("self", "data", "x", "u"), |
| 48 | "Compute the control residual.\n\n" | ||
| 49 | ":param data: residual data\n" | ||
| 50 | ":param x: state point (dim. state.nx)\n" | ||
| 51 | ":param u: control input (dim. nu)") | ||
| 52 | .def<void (ResidualModelControl::*)( | ||
| 53 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 54 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 55 |
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20 | "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x")) |
| 56 | .def<void (ResidualModelControl::*)( | ||
| 57 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 58 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 59 |
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20 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 60 | "calcDiff", &ResidualModelControl::calcDiff, | ||
| 61 |
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20 | bp::args("self", "data", "x", "u"), |
| 62 | "Compute the Jacobians of the control residual.\n\n" | ||
| 63 | "It assumes that calc has been run first.\n" | ||
| 64 | ":param data: action data\n" | ||
| 65 | ":param x: state point (dim. state.nx)\n" | ||
| 66 | ":param u: control input (dim. nu)") | ||
| 67 | .def<void (ResidualModelControl::*)( | ||
| 68 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 69 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 70 | "calcDiff", &ResidualModelAbstract::calcDiff, | ||
| 71 |
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20 | bp::args("self", "data", "x")) |
| 72 |
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20 | .def("createData", &ResidualModelControl::createData, |
| 73 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 74 |
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20 | bp::args("self", "data"), |
| 75 | "Create the control residual data.\n\n" | ||
| 76 | "Each residual model has its own data that needs to be allocated. " | ||
| 77 | "This function\n" | ||
| 78 | "returns the allocated data for the control residual.\n" | ||
| 79 | ":param data: shared data\n" | ||
| 80 | ":return residual data.") | ||
| 81 |
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10 | .add_property("reference", |
| 82 |
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10 | bp::make_function(&ResidualModelControl::get_reference, |
| 83 | 10 | bp::return_internal_reference<>()), | |
| 84 | &ResidualModelControl::set_reference, | ||
| 85 | "reference control vector") | ||
| 86 |
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10 | .def(CopyableVisitor<ResidualModelControl>()); |
| 87 | 10 | } | |
| 88 | |||
| 89 | } // namespace python | ||
| 90 | } // namespace crocoddyl | ||
| 91 |