| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_COST_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_CORE_COST_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/cost-base.hpp" | ||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename _Scalar> | ||
| 20 | class CostModelAbstractTpl_wrap | ||
| 21 | : public CostModelAbstractTpl<_Scalar>, | ||
| 22 | public bp::wrapper<CostModelAbstractTpl<_Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(CostModelBase, CostModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef _Scalar Scalar; | ||
| 28 | typedef typename ScalarSelector<Scalar>::type ScalarType; | ||
| 29 | typedef typename crocoddyl::CostModelAbstractTpl<Scalar> CostModel; | ||
| 30 | typedef typename crocoddyl::CostDataAbstractTpl<Scalar> CostData; | ||
| 31 | typedef typename CostModel::StateAbstract State; | ||
| 32 | typedef typename CostModel::ActivationModelAbstract ActivationModel; | ||
| 33 | typedef typename CostModel::ResidualModelAbstract ResidualModel; | ||
| 34 | typedef typename CostModel::DataCollectorAbstract DataCollector; | ||
| 35 | typedef typename CostModel::VectorXs VectorXs; | ||
| 36 | using CostModel::activation_; | ||
| 37 | using CostModel::nu_; | ||
| 38 | using CostModel::residual_; | ||
| 39 | using CostModel::state_; | ||
| 40 | using CostModel::unone_; | ||
| 41 | |||
| 42 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 43 | std::shared_ptr<ActivationModel> activation, | ||
| 44 | std::shared_ptr<ResidualModel> residual) | ||
| 45 | ✗ | : CostModel(state, activation, residual), bp::wrapper<CostModel>() { | |
| 46 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 47 | ✗ | } | |
| 48 | |||
| 49 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 50 | std::shared_ptr<ActivationModel> activation, | ||
| 51 | const std::size_t nu) | ||
| 52 | ✗ | : CostModel(state, activation, nu), bp::wrapper<CostModel>() { | |
| 53 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 54 | ✗ | } | |
| 55 | |||
| 56 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 57 | std::shared_ptr<ActivationModel> activation) | ||
| 58 | ✗ | : CostModel(state, activation), bp::wrapper<CostModel>() { | |
| 59 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 60 | ✗ | } | |
| 61 | |||
| 62 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 63 | std::shared_ptr<ResidualModel> residual) | ||
| 64 | ✗ | : CostModel(state, residual), bp::wrapper<CostModel>() { | |
| 65 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 66 | ✗ | } | |
| 67 | |||
| 68 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, const std::size_t nr, | |
| 69 | const std::size_t nu) | ||
| 70 | ✗ | : CostModel(state, nr, nu), bp::wrapper<CostModel>() { | |
| 71 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 72 | ✗ | } | |
| 73 | |||
| 74 | ✗ | CostModelAbstractTpl_wrap(std::shared_ptr<State> state, const std::size_t nr) | |
| 75 | ✗ | : CostModel(state, nr), bp::wrapper<CostModel>() { | |
| 76 | ✗ | unone_ = VectorXs::Constant(nu_, Scalar(NAN)); | |
| 77 | ✗ | } | |
| 78 | |||
| 79 | ✗ | void calc(const std::shared_ptr<CostData>& data, | |
| 80 | const Eigen::Ref<const VectorXs>& x, | ||
| 81 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 82 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 83 | ✗ | throw_pretty( | |
| 84 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 85 | std::to_string(state_->get_nx()) + ")"); | ||
| 86 | } | ||
| 87 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 88 | ✗ | throw_pretty( | |
| 89 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 90 | std::to_string(nu_) + ")"); | ||
| 91 | } | ||
| 92 | ✗ | if (std::isnan( | |
| 93 | ✗ | scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { | |
| 94 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, | |
| 95 | ✗ | (VectorXs)x); | |
| 96 | } else { | ||
| 97 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, | |
| 98 | ✗ | (VectorXs)u); | |
| 99 | } | ||
| 100 | } | ||
| 101 | |||
| 102 | ✗ | void calcDiff(const std::shared_ptr<CostData>& data, | |
| 103 | const Eigen::Ref<const VectorXs>& x, | ||
| 104 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 105 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 106 | ✗ | throw_pretty( | |
| 107 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 108 | std::to_string(state_->get_nx()) + ")"); | ||
| 109 | } | ||
| 110 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 111 | ✗ | throw_pretty( | |
| 112 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 113 | std::to_string(nu_) + ")"); | ||
| 114 | } | ||
| 115 | ✗ | if (std::isnan( | |
| 116 | ✗ | scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { | |
| 117 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 118 | ✗ | (VectorXs)x); | |
| 119 | } else { | ||
| 120 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 121 | ✗ | (VectorXs)x, (VectorXs)u); | |
| 122 | } | ||
| 123 | } | ||
| 124 | |||
| 125 | ✗ | std::shared_ptr<CostData> createData(DataCollector* const data) override { | |
| 126 | ✗ | enableMultithreading() = false; | |
| 127 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 128 | return bp::call<std::shared_ptr<CostData>>(createData.ptr(), | ||
| 129 | ✗ | boost::ref(data)); | |
| 130 | } | ||
| 131 | ✗ | return CostModel::createData(data); | |
| 132 | } | ||
| 133 | |||
| 134 | ✗ | std::shared_ptr<CostData> default_createData(DataCollector* const data) { | |
| 135 | ✗ | return this->CostModel::createData(data); | |
| 136 | } | ||
| 137 | |||
| 138 | template <typename NewScalar> | ||
| 139 | ✗ | CostModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 140 | typedef CostModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 141 | ✗ | if (residual_) { | |
| 142 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 143 | ✗ | activation_->template cast<NewScalar>(), | |
| 144 | ✗ | residual_->template cast<NewScalar>()); | |
| 145 | ✗ | return ret; | |
| 146 | ✗ | } else { | |
| 147 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 148 | ✗ | activation_->template cast<NewScalar>(), nu_); | |
| 149 | ✗ | return ret; | |
| 150 | ✗ | } | |
| 151 | } | ||
| 152 | }; | ||
| 153 | |||
| 154 | } // namespace python | ||
| 155 | } // namespace crocoddyl | ||
| 156 | |||
| 157 | #endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_COST_BASE_HPP_ | ||
| 158 |