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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 float |
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#include "crocoddyl/core/costs/cost-sum.hpp" |
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#include "python/crocoddyl/core/action-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/diff-action-base.hpp" |
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#include "python/crocoddyl/utils/deprecate.hpp" |
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#include "python/crocoddyl/utils/map-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 CostItemVisitor : public bp::def_visitor<CostItemVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def_readwrite("name", &Model::name, "cost name") |
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.add_property( |
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"cost", |
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bp::make_getter(&Model::cost, |
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bp::return_value_policy<bp::return_by_value>()), |
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"cost model") |
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.def_readwrite("weight", &Model::weight, "cost weight") |
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.def_readwrite("active", &Model::active, "cost status"); |
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} |
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}; |
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template <typename Model> |
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struct CostModelSumVisitor |
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: public bp::def_visitor<CostModelSumVisitor<Model>> { |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(CostModelSum_addCost_wrap, |
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Model::addCost, 3, 4) |
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typedef typename Model::CostDataSum Data; |
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typedef typename Model::StateAbstract State; |
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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::size_t>( |
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bp::args("self", "state", "nu"), |
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"Initialize the total cost model.\n\n" |
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"For this case the default nu is equals to model.nv.\n" |
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":param state: state description\n" |
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":param nu: dimension of control vector")) |
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.def(bp::init<std::shared_ptr<State>>( |
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bp::args("self", "state"), |
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"Initialize the total cost model.\n\n" |
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"For this case the default nu is equals to model.nv.\n" |
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":param state: state description")) |
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.def("addCost", &Model::addCost, |
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CostModelSum_addCost_wrap( |
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bp::args("self", "name", "cost", "weight", "active"), |
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"Add a cost item.\n\n" |
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":param name: cost name\n" |
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":param cost: cost model\n" |
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":param weight: cost weight\n" |
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":param active: True if the cost is activated (default true)")) |
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.def("removeCost", &Model::removeCost, bp::args("self", "name"), |
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"Remove a cost item.\n\n" |
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":param name: cost name") |
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.def("changeCostStatus", &Model::changeCostStatus, |
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bp::args("self", "name", "active"), |
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"Change the cost status.\n\n" |
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":param name: cost name\n" |
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":param active: cost status (true for active and false for " |
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"inactive)") |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the total cost.\n\n" |
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":param data: cost-sum 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 (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::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.\n" |
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"This function is used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: cost-sum data\n" |
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":param x: state point (dim. state.nx)") |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the total cost.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action 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 (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian and Hessian of the total cost for nodes that " |
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"depends on the state only.\n\n" |
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"It updates the Jacobian and Hessian of the total cost based on " |
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"the " |
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"state only.\n" |
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"This function is used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: cost-sum 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 total cost data.\n\n" |
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":param data: shared data\n" |
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":return total cost data.") |
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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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"costs", |
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bp::make_function(&Model::get_costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of costs") |
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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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.add_property("nr", bp::make_function(&Model::get_nr), |
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"dimension of the residual vector of active cost") |
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.add_property("nr_total", bp::make_function(&Model::get_nr_total), |
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"dimension of the total residual vector") |
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.add_property( |
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"active", |
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bp::make_function( |
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&Model::get_active, |
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deprecated<bp::return_value_policy<bp::return_by_value>>( |
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"Deprecated. Use property active_set")), |
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"list of names of active contact items") |
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.add_property( |
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"inactive", |
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bp::make_function( |
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&Model::get_inactive, |
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deprecated<bp::return_value_policy<bp::return_by_value>>( |
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"Deprecated. Use property inactive_set")), |
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"list of names of inactive contact items") |
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.add_property( |
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"active_set", |
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bp::make_function(&Model::get_active_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"name of the active set of cost items") |
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.add_property( |
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"inactive_set", |
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bp::make_function(&Model::get_inactive_set, |
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bp::return_value_policy<bp::return_by_value>()), |
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"name of the inactive set of cost items") |
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.def("getCostStatus", &Model::getCostStatus, bp::args("self", "name"), |
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"Return the cost status of a given cost name.\n\n" |
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":param name: cost name"); |
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} |
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}; |
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template <typename Data> |
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struct CostDataSumVisitor : public bp::def_visitor<CostDataSumVisitor<Data>> { |
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typedef typename Data::Scalar Scalar; |
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typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionData; |
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typedef ActionDataAbstractTpl<Scalar> ActionData; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def( |
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"shareMemory", &Data::template shareMemory<DifferentialActionData>, |
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bp::args("self", "model"), |
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"Share memory with a given differential action data\n\n" |
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":param model: differential action data that we want to share memory") |
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.def("shareMemory", &Data::template shareMemory<ActionData>, |
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bp::args("self", "model"), |
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"Share memory with a given action data\n\n" |
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":param model: action data that we want to share memory") |
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.add_property( |
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"costs", |
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bp::make_getter(&Data::costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"stack of costs data") |
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.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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"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", |
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bp::make_function(&Data::get_Lx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Lx), "Jacobian of the cost") |
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.add_property( |
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"Lu", |
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bp::make_function(&Data::get_Lu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Lu), "Jacobian of the cost") |
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.add_property( |
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"Lxx", |
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bp::make_function(&Data::get_Lxx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Lxx), "Hessian of the cost") |
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.add_property( |
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"Lxu", |
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bp::make_function(&Data::get_Lxu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Lxu), "Hessian of the cost") |
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.add_property( |
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"Luu", |
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bp::make_function(&Data::get_Luu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Data::set_Luu), "Hessian of the cost"); |
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} |
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}; |
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#define CROCODDYL_COST_ITEM_PYTHON_BINDINGS(Scalar) \ |
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typedef CostItemTpl<Scalar> Item; \ |
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typedef Item::CostModelAbstract CostModel; \ |
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typedef std::shared_ptr<Item> CostItemPtr; \ |
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StdMapPythonVisitor< \ |
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std::string, CostItemPtr, std::less<std::string>, \ |
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std::allocator<std::pair<const std::string, CostItemPtr>>, \ |
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true>::expose("StdMap_CostItem"); \ |
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typedef CostDataAbstractTpl<Scalar> CostData; \ |
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typedef std::shared_ptr<CostData> CostDataPtr; \ |
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StdMapPythonVisitor< \ |
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std::string, CostDataPtr, std::less<std::string>, \ |
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std::allocator<std::pair<const std::string, CostDataPtr>>, \ |
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true>::expose("StdMap_CostData"); \ |
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bp::register_ptr_to_python<std::shared_ptr<Item>>(); \ |
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bp::class_<Item>( \ |
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"CostItem", "Describe a cost item.\n\n", \ |
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bp::init<std::string, std::shared_ptr<CostModel>, Scalar, \ |
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bp::optional<bool>>( \ |
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bp::args("self", "name", "cost", "weight", "active"), \ |
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"Initialize the cost item.\n\n" \ |
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":param name: cost name\n" \ |
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":param cost: cost model\n" \ |
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":param weight: cost weight\n" \ |
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":param active: True if the cost is activated (default true)")) \ |
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.def(CostItemVisitor<Item>()) \ |
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.def(CastVisitor<Item>()) \ |
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.def(PrintableVisitor<Item>()) \ |
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.def(CopyableVisitor<Item>()); |
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#define CROCODDYL_COST_MODEL_SUM_PYTHON_BINDINGS(Scalar) \ |
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typedef CostModelSumTpl<Scalar> Model; \ |
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typedef Model::StateAbstract State; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model>("CostModelSum", \ |
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bp::init<std::shared_ptr<State>, std::size_t>( \ |
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bp::args("self", "state", "nu"), \ |
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"Initialize the total cost model.\n\n" \ |
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":param state: state description\n" \ |
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":param nu: dimension of control vector")) \ |
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.def(CostModelSumVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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#define CROCODDYL_COST_DATA_SUM_PYTHON_BINDINGS(Scalar) \ |
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typedef CostDataSumTpl<Scalar> Data; \ |
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typedef CostModelSumTpl<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>( \ |
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"CostDataSum", "Class for total 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 total cost data.\n\n" \ |
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":param model: total cost model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward<1, 3>()]) \ |
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.def(CostDataSumVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeCostSum() { |
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CROCODDYL_COST_ITEM_PYTHON_BINDINGS(float) |
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CROCODDYL_COST_MODEL_SUM_PYTHON_BINDINGS(float) |
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CROCODDYL_COST_DATA_SUM_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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