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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for double |
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#include "python/crocoddyl/core/cost-base.hpp" |
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#include "python/crocoddyl/utils/deprecate.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 CostModelAbstractVisitor |
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: public bp::def_visitor<CostModelAbstractVisitor<Model>> { |
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typedef typename Model::CostModel CostModel; |
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typedef typename Model::CostData CostData; |
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typedef typename Model::State State; |
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typedef typename Model::ActivationModel ActivationModel; |
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typedef typename Model::ResidualModel ResidualModel; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>, |
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std::size_t>( |
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bp::args("self", "state", "activation", "nu"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param activation: activation model\n" |
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":param nu: dimension of control vector (default state.nv)")) |
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.def(bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>>( |
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bp::args("self", "state", "activation"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param activation: activation model")) |
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.def(bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>>( |
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bp::args("self", "state", "residual"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param residual: residual model")) |
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.def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t>( |
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bp::args("self", "state", "nr", "nu"), |
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"Initialize the cost model.\n\n" |
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"We use ActivationModelQuad as a default activation model (i.e., " |
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"a=0.5*||r||^2).\n" |
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":param state: state description\n" |
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":param nr: dimension of residual vector\n" |
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":param nu: dimension of control vector (default state.nv)")) |
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.def(bp::init<std::shared_ptr<State>, std::size_t>( |
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bp::args("self", "state", "nr"), |
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"Initialize the cost model.\n\n" |
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"We use ActivationModelQuad as a default activation model (i.e., " |
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"a=0.5*||r||^2), and the default nu value is obtained from " |
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"state.nv.\n" |
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":param state: state description\n" |
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":param nr: dimension of cost vector")) |
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.def("calc", pure_virtual(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the cost value and its residuals.\n\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calc", |
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static_cast<void (CostModel::*)(const std::shared_ptr<CostData>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&CostModel::calc), |
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bp::args("self", "data", "x"), |
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"Compute the total cost value for nodes that depends only on the " |
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"state.\n\n" |
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"It updates the total cost based on the state only. This function " |
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"is used in the terminal nodes of an optimal control problem.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the cost function and its " |
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"residuals.\n\n" |
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"It computes the partial derivatives of the cost function. It " |
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"assumes that calc has been run first.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calcDiff", |
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static_cast<void (CostModel::*)(const std::shared_ptr<CostData>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&CostModel::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian and Hessian of the cost functions with " |
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"respect to the state only.\n\n" |
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"It updates the Jacobian and Hessian of the cost function based on " |
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"the state only. This function is used in the terminal nodes of an " |
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"optimal control problem.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &Model::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the cost data.\n\n" |
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"Each cost model has its own data that needs to be allocated. " |
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"This function returns the allocated data for a predefined cost.\n" |
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":param data: shared data\n" |
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":return cost data.") |
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.def("createData", &Model::default_createData, |
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bp::with_custodian_and_ward_postcall<0, 2>()) |
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.add_property( |
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"state", |
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bp::make_function(&Model::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state description") |
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.add_property( |
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"activation", |
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bp::make_function(&Model::get_activation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"activation model") |
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.add_property( |
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"residual", |
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bp::make_function(&Model::get_residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual model") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of control vector"); |
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} |
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}; |
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template <typename Data> |
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struct CostDataAbstractVisitor |
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: public bp::def_visitor<CostDataAbstractVisitor<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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"shared", |
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bp::make_getter(&Data::shared, bp::return_internal_reference<>()), |
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"shared data") |
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.add_property( |
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"activation", |
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bp::make_getter(&Data::activation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"activation data") |
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.add_property( |
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"residual", |
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bp::make_getter(&Data::residual, |
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bp::return_value_policy<bp::return_by_value>()), |
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"residual data") |
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.add_property( |
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"cost", |
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bp::make_getter(&Data::cost, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::cost), "cost value") |
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.add_property( |
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"Lx", bp::make_getter(&Data::Lx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Lx), "Jacobian of the cost") |
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.add_property( |
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"Lu", bp::make_getter(&Data::Lu, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Lu), "Jacobian of the cost") |
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.add_property( |
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"Lxx", |
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bp::make_getter(&Data::Lxx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Lxx), "Hessian of the cost") |
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.add_property( |
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"Lxu", |
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bp::make_getter(&Data::Lxu, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Lxu), "Hessian of the cost") |
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.add_property( |
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"Luu", |
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bp::make_getter(&Data::Luu, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Luu), "Hessian of the cost") |
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.add_property( |
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"r", |
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bp::make_function(&Data::get_r, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use residual.r.")), |
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bp::make_function(&Data::set_r, |
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deprecated<>("Deprecated. Use residual.r.")), |
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"cost residual") |
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.add_property( |
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"Rx", |
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bp::make_function(&Data::get_Rx, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use residual.Rx.")), |
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bp::make_function(&Data::set_Rx, |
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deprecated<>("Deprecated. Use residual.Rx.")), |
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"Jacobian of the cost residual") |
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.add_property( |
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"Ru", |
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bp::make_function(&Data::get_Ru, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use residual.Ru.")), |
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bp::make_function(&Data::set_Ru, |
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deprecated<>("Deprecated. Use residual.Ru.")), |
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"Jacobian of the cost residual"); |
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} |
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}; |
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#define CROCODDYL_COST_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef CostModelAbstractTpl<Scalar> Model; \ |
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typedef CostModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef StateAbstractTpl<Scalar> State; \ |
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typedef Model::ActivationModelAbstract ActivationModel; \ |
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typedef Model::ResidualModelAbstract ResidualModel; \ |
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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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"CostModelAbstract", \ |
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"Abstract multibody cost models.\n\n" \ |
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"In Crocoddyl, a cost model is defined by the scalar activation " \ |
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"function a(.) and by the residual function r(.) as follows:\n" \ |
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" cost = a(r(x, u)),\n" \ |
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"where the residual function depends on the state point x, which lies " \ |
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"in the state manifold described with a nq-tuple, its velocity xd that " \ |
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"belongs to the tangent space with nv dimension, and the control input " \ |
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"u. The dimension of the residual vector is defined by nr, which " \ |
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"belongs to the Euclidean space. On the other hand, the activation " \ |
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"function builds a cost value based on the definition of the residual " \ |
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"vector. The residual vector has to be specialized in a derived " \ |
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"classes.", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>, \ |
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std::shared_ptr<ResidualModel>>( \ |
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bp::args("self", "state", "activation", "residual"), \ |
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"Initialize the cost model.\n\n" \ |
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":param state: state description\n" \ |
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":param activation: activation model\n" \ |
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":param residual: residual model")) \ |
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.def(CostModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_COST_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef CostDataAbstractTpl<Scalar> Data; \ |
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typedef CostModelAbstractTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, boost::noncopyable>( \ |
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"CostDataAbstract", "Abstract class for cost data.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between cost models.\n\n" \ |
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":param model: cost model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(CostDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeCostAbstract() { |
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// TODO: Remove once the deprecated update call has been removed in a future |
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// release |
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#pragma GCC diagnostic push |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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CROCODDYL_COST_MODEL_ABSTRACT_PYTHON_BINDINGS(double) |
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CROCODDYL_COST_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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#pragma GCC diagnostic pop |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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