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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for float | ||
| 11 | #include "python/crocoddyl/core/cost-base.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/utils/deprecate.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct CostModelAbstractVisitor | ||
| 20 | : public bp::def_visitor<CostModelAbstractVisitor<Model>> { | ||
| 21 | typedef typename Model::CostModel CostModel; | ||
| 22 | typedef typename Model::CostData CostData; | ||
| 23 | typedef typename Model::State State; | ||
| 24 | typedef typename Model::ActivationModel ActivationModel; | ||
| 25 | typedef typename Model::ResidualModel ResidualModel; | ||
| 26 | typedef typename Model::VectorXs VectorXs; | ||
| 27 | template <class PyClass> | ||
| 28 | ✗ | void visit(PyClass& cl) const { | |
| 29 | ✗ | cl.def(bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>, | |
| 30 | std::size_t>( | ||
| 31 | bp::args("self", "state", "activation", "nu"), | ||
| 32 | "Initialize the cost model.\n\n" | ||
| 33 | ":param state: state description\n" | ||
| 34 | ":param activation: activation model\n" | ||
| 35 | ":param nu: dimension of control vector (default state.nv)")) | ||
| 36 | ✗ | .def(bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>>( | |
| 37 | bp::args("self", "state", "activation"), | ||
| 38 | "Initialize the cost model.\n\n" | ||
| 39 | ":param state: state description\n" | ||
| 40 | ":param activation: activation model")) | ||
| 41 | ✗ | .def(bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>>( | |
| 42 | bp::args("self", "state", "residual"), | ||
| 43 | "Initialize the cost model.\n\n" | ||
| 44 | ":param state: state description\n" | ||
| 45 | ":param residual: residual model")) | ||
| 46 | ✗ | .def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t>( | |
| 47 | bp::args("self", "state", "nr", "nu"), | ||
| 48 | "Initialize the cost model.\n\n" | ||
| 49 | "We use ActivationModelQuad as a default activation model (i.e., " | ||
| 50 | "a=0.5*||r||^2).\n" | ||
| 51 | ":param state: state description\n" | ||
| 52 | ":param nr: dimension of residual vector\n" | ||
| 53 | ":param nu: dimension of control vector (default state.nv)")) | ||
| 54 | ✗ | .def(bp::init<std::shared_ptr<State>, std::size_t>( | |
| 55 | bp::args("self", "state", "nr"), | ||
| 56 | "Initialize the cost model.\n\n" | ||
| 57 | "We use ActivationModelQuad as a default activation model (i.e., " | ||
| 58 | "a=0.5*||r||^2), and the default nu value is obtained from " | ||
| 59 | "state.nv.\n" | ||
| 60 | ":param state: state description\n" | ||
| 61 | ":param nr: dimension of cost vector")) | ||
| 62 | ✗ | .def("calc", pure_virtual(&Model::calc), | |
| 63 | bp::args("self", "data", "x", "u"), | ||
| 64 | "Compute the cost value and its residuals.\n\n" | ||
| 65 | ":param data: cost data\n" | ||
| 66 | ":param x: state point (dim. state.nx)\n" | ||
| 67 | ":param u: control input (dim. nu)") | ||
| 68 | ✗ | .def( | |
| 69 | "calc", | ||
| 70 | static_cast<void (CostModel::*)(const std::shared_ptr<CostData>&, | ||
| 71 | const Eigen::Ref<const VectorXs>&)>( | ||
| 72 | &CostModel::calc), | ||
| 73 | bp::args("self", "data", "x"), | ||
| 74 | "Compute the total cost value for nodes that depends only on the " | ||
| 75 | "state.\n\n" | ||
| 76 | "It updates the total cost based on the state only. This function " | ||
| 77 | "is used in the terminal nodes of an optimal control problem.\n" | ||
| 78 | ":param data: cost data\n" | ||
| 79 | ":param x: state point (dim. state.nx)") | ||
| 80 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 81 | bp::args("self", "data", "x", "u"), | ||
| 82 | "Compute the derivatives of the cost function and its " | ||
| 83 | "residuals.\n\n" | ||
| 84 | "It computes the partial derivatives of the cost function. It " | ||
| 85 | "assumes that calc has been run first.\n" | ||
| 86 | ":param data: cost data\n" | ||
| 87 | ":param x: state point (dim. state.nx)\n" | ||
| 88 | ":param u: control input (dim. nu)") | ||
| 89 | ✗ | .def( | |
| 90 | "calcDiff", | ||
| 91 | static_cast<void (CostModel::*)(const std::shared_ptr<CostData>&, | ||
| 92 | const Eigen::Ref<const VectorXs>&)>( | ||
| 93 | &CostModel::calcDiff), | ||
| 94 | bp::args("self", "data", "x"), | ||
| 95 | "Compute the Jacobian and Hessian of the cost functions with " | ||
| 96 | "respect to the state only.\n\n" | ||
| 97 | "It updates the Jacobian and Hessian of the cost function based on " | ||
| 98 | "the state only. This function is used in the terminal nodes of an " | ||
| 99 | "optimal control problem.\n" | ||
| 100 | ":param data: cost data\n" | ||
| 101 | ":param x: state point (dim. state.nx)") | ||
| 102 | ✗ | .def("createData", &Model::createData, | |
| 103 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 104 | bp::args("self", "data"), | ||
| 105 | "Create the cost data.\n\n" | ||
| 106 | "Each cost model has its own data that needs to be allocated. " | ||
| 107 | "This function returns the allocated data for a predefined cost.\n" | ||
| 108 | ":param data: shared data\n" | ||
| 109 | ":return cost data.") | ||
| 110 | ✗ | .def("createData", &Model::default_createData, | |
| 111 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>()) | |
| 112 | ✗ | .add_property( | |
| 113 | "state", | ||
| 114 | bp::make_function(&Model::get_state, | ||
| 115 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 116 | "state description") | ||
| 117 | ✗ | .add_property( | |
| 118 | "activation", | ||
| 119 | bp::make_function(&Model::get_activation, | ||
| 120 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 121 | "activation model") | ||
| 122 | ✗ | .add_property( | |
| 123 | "residual", | ||
| 124 | bp::make_function(&Model::get_residual, | ||
| 125 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 126 | "residual model") | ||
| 127 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 128 | "dimension of control vector"); | ||
| 129 | ✗ | } | |
| 130 | }; | ||
| 131 | |||
| 132 | template <typename Data> | ||
| 133 | struct CostDataAbstractVisitor | ||
| 134 | : public bp::def_visitor<CostDataAbstractVisitor<Data>> { | ||
| 135 | template <class PyClass> | ||
| 136 | ✗ | void visit(PyClass& cl) const { | |
| 137 | ✗ | cl.add_property( | |
| 138 | "shared", | ||
| 139 | ✗ | bp::make_getter(&Data::shared, bp::return_internal_reference<>()), | |
| 140 | "shared data") | ||
| 141 | ✗ | .add_property( | |
| 142 | "activation", | ||
| 143 | ✗ | bp::make_getter(&Data::activation, | |
| 144 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 145 | "activation data") | ||
| 146 | ✗ | .add_property( | |
| 147 | "residual", | ||
| 148 | ✗ | bp::make_getter(&Data::residual, | |
| 149 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 150 | "residual data") | ||
| 151 | ✗ | .add_property( | |
| 152 | "cost", | ||
| 153 | ✗ | bp::make_getter(&Data::cost, | |
| 154 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 155 | ✗ | bp::make_setter(&Data::cost), "cost value") | |
| 156 | ✗ | .add_property( | |
| 157 | ✗ | "Lx", bp::make_getter(&Data::Lx, bp::return_internal_reference<>()), | |
| 158 | ✗ | bp::make_setter(&Data::Lx), "Jacobian of the cost") | |
| 159 | ✗ | .add_property( | |
| 160 | ✗ | "Lu", bp::make_getter(&Data::Lu, bp::return_internal_reference<>()), | |
| 161 | ✗ | bp::make_setter(&Data::Lu), "Jacobian of the cost") | |
| 162 | ✗ | .add_property( | |
| 163 | "Lxx", | ||
| 164 | ✗ | bp::make_getter(&Data::Lxx, bp::return_internal_reference<>()), | |
| 165 | ✗ | bp::make_setter(&Data::Lxx), "Hessian of the cost") | |
| 166 | ✗ | .add_property( | |
| 167 | "Lxu", | ||
| 168 | ✗ | bp::make_getter(&Data::Lxu, bp::return_internal_reference<>()), | |
| 169 | ✗ | bp::make_setter(&Data::Lxu), "Hessian of the cost") | |
| 170 | ✗ | .add_property( | |
| 171 | "Luu", | ||
| 172 | ✗ | bp::make_getter(&Data::Luu, bp::return_internal_reference<>()), | |
| 173 | ✗ | bp::make_setter(&Data::Luu), "Hessian of the cost") | |
| 174 | ✗ | .add_property( | |
| 175 | "r", | ||
| 176 | bp::make_function(&Data::get_r, | ||
| 177 | ✗ | deprecated<bp::return_internal_reference<>>( | |
| 178 | "Deprecated. Use residual.r.")), | ||
| 179 | bp::make_function(&Data::set_r, | ||
| 180 | ✗ | deprecated<>("Deprecated. Use residual.r.")), | |
| 181 | "cost residual") | ||
| 182 | ✗ | .add_property( | |
| 183 | "Rx", | ||
| 184 | bp::make_function(&Data::get_Rx, | ||
| 185 | ✗ | deprecated<bp::return_internal_reference<>>( | |
| 186 | "Deprecated. Use residual.Rx.")), | ||
| 187 | bp::make_function(&Data::set_Rx, | ||
| 188 | ✗ | deprecated<>("Deprecated. Use residual.Rx.")), | |
| 189 | "Jacobian of the cost residual") | ||
| 190 | ✗ | .add_property( | |
| 191 | "Ru", | ||
| 192 | bp::make_function(&Data::get_Ru, | ||
| 193 | ✗ | deprecated<bp::return_internal_reference<>>( | |
| 194 | "Deprecated. Use residual.Ru.")), | ||
| 195 | bp::make_function(&Data::set_Ru, | ||
| 196 | ✗ | deprecated<>("Deprecated. Use residual.Ru.")), | |
| 197 | "Jacobian of the cost residual"); | ||
| 198 | ✗ | } | |
| 199 | }; | ||
| 200 | |||
| 201 | #define CROCODDYL_COST_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 202 | typedef CostModelAbstractTpl<Scalar> Model; \ | ||
| 203 | typedef CostModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 204 | typedef StateAbstractTpl<Scalar> State; \ | ||
| 205 | typedef Model::ActivationModelAbstract ActivationModel; \ | ||
| 206 | typedef Model::ResidualModelAbstract ResidualModel; \ | ||
| 207 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 208 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 209 | "CostModelAbstract", \ | ||
| 210 | "Abstract multibody cost models.\n\n" \ | ||
| 211 | "In Crocoddyl, a cost model is defined by the scalar activation " \ | ||
| 212 | "function a(.) and by the residual function r(.) as follows:\n" \ | ||
| 213 | " cost = a(r(x, u)),\n" \ | ||
| 214 | "where the residual function depends on the state point x, which lies " \ | ||
| 215 | "in the state manifold described with a nq-tuple, its velocity xd that " \ | ||
| 216 | "belongs to the tangent space with nv dimension, and the control input " \ | ||
| 217 | "u. The dimension of the residual vector is defined by nr, which " \ | ||
| 218 | "belongs to the Euclidean space. On the other hand, the activation " \ | ||
| 219 | "function builds a cost value based on the definition of the residual " \ | ||
| 220 | "vector. The residual vector has to be specialized in a derived " \ | ||
| 221 | "classes.", \ | ||
| 222 | bp::init<std::shared_ptr<State>, std::shared_ptr<ActivationModel>, \ | ||
| 223 | std::shared_ptr<ResidualModel>>( \ | ||
| 224 | bp::args("self", "state", "activation", "residual"), \ | ||
| 225 | "Initialize the cost model.\n\n" \ | ||
| 226 | ":param state: state description\n" \ | ||
| 227 | ":param activation: activation model\n" \ | ||
| 228 | ":param residual: residual model")) \ | ||
| 229 | .def(CostModelAbstractVisitor<Model_wrap>()) \ | ||
| 230 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 231 | .def(CopyableVisitor<Model_wrap>()); | ||
| 232 | |||
| 233 | #define CROCODDYL_COST_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 234 | typedef CostDataAbstractTpl<Scalar> Data; \ | ||
| 235 | typedef CostModelAbstractTpl<Scalar> Model; \ | ||
| 236 | typedef Model::DataCollectorAbstract DataCollector; \ | ||
| 237 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 238 | bp::class_<Data, boost::noncopyable>( \ | ||
| 239 | "CostDataAbstract", "Abstract class for cost data.\n\n", \ | ||
| 240 | bp::init<Model*, DataCollector*>( \ | ||
| 241 | bp::args("self", "model", "data"), \ | ||
| 242 | "Create common data shared between cost models.\n\n" \ | ||
| 243 | ":param model: cost model\n" \ | ||
| 244 | ":param data: shared data")[bp::with_custodian_and_ward< \ | ||
| 245 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 246 | .def(CostDataAbstractVisitor<Data>()) \ | ||
| 247 | .def(CopyableVisitor<Data>()); | ||
| 248 | |||
| 249 | ✗ | void exposeCostAbstract() { | |
| 250 | // TODO: Remove once the deprecated update call has been removed in a future | ||
| 251 | // release | ||
| 252 | #pragma GCC diagnostic push | ||
| 253 | #pragma GCC diagnostic ignored "-Wdeprecated-declarations" | ||
| 254 | |||
| 255 | ✗ | CROCODDYL_COST_MODEL_ABSTRACT_PYTHON_BINDINGS(float) | |
| 256 | ✗ | CROCODDYL_COST_DATA_ABSTRACT_PYTHON_BINDINGS(float) | |
| 257 | |||
| 258 | #pragma GCC diagnostic pop | ||
| 259 | ✗ | } | |
| 260 | |||
| 261 | } // namespace python | ||
| 262 | } // namespace crocoddyl | ||
| 263 |