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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for double | ||
| 11 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | #include "python/crocoddyl/utils/vector-converter.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct DifferentialActionModelAbstractVisitor | ||
| 21 | : public bp::def_visitor<DifferentialActionModelAbstractVisitor<Model>> { | ||
| 22 | typedef typename Model::DifferentialActionModel ActionModel; | ||
| 23 | typedef typename Model::DifferentialActionData ActionData; | ||
| 24 | typedef typename Model::VectorXs VectorXs; | ||
| 25 | ✗ | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( | |
| 26 | DifferentialActionModel_quasiStatic_wraps, ActionModel::quasiStatic_x, 2, | ||
| 27 | 4) | ||
| 28 | template <class PyClass> | ||
| 29 | ✗ | void visit(PyClass& cl) const { | |
| 30 | ✗ | cl.def("calc", pure_virtual(&Model::calc), | |
| 31 | bp::args("self", "data", "x", "u"), | ||
| 32 | "Compute the system acceleration and cost value.\n\n" | ||
| 33 | ":param data: differential action data\n" | ||
| 34 | ":param x: state point (dim. state.nx)\n" | ||
| 35 | ":param u: control input (dim. nu)") | ||
| 36 | ✗ | .def("calc", | |
| 37 | static_cast<void (ActionModel::*)( | ||
| 38 | const std::shared_ptr<ActionData>&, | ||
| 39 | const Eigen::Ref<const VectorXs>&)>(&ActionModel::calc), | ||
| 40 | bp::args("self", "data", "x"), | ||
| 41 | "Compute the total cost value for nodes that depends only on the " | ||
| 42 | "state.\n\n" | ||
| 43 | "It updates the total cost and the system acceleration is not " | ||
| 44 | "updated as the control input is undefined. This function is used " | ||
| 45 | "in the terminal nodes of an optimal control problem.\n" | ||
| 46 | ":param data: differential action data\n" | ||
| 47 | ":param x: state point (dim. state.nx)") | ||
| 48 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 49 | bp::args("self", "data", "x", "u"), | ||
| 50 | "Compute the derivatives of the dynamics and cost functions.\n\n" | ||
| 51 | "It computes the partial derivatives of the dynamical system and " | ||
| 52 | "the cost function. It assumes that calc has been run first. This " | ||
| 53 | "function builds a quadratic approximation of the time-continuous " | ||
| 54 | "action model (i.e. dynamical system and cost function).\n" | ||
| 55 | ":param data: differential action data\n" | ||
| 56 | ":param x: state point (dim. state.nx)\n" | ||
| 57 | ":param u: control input (dim. nu)") | ||
| 58 | ✗ | .def("calcDiff", | |
| 59 | static_cast<void (ActionModel::*)( | ||
| 60 | const std::shared_ptr<ActionData>&, | ||
| 61 | const Eigen::Ref<const VectorXs>&)>(&ActionModel::calcDiff), | ||
| 62 | bp::args("self", "data", "x"), | ||
| 63 | "Compute the derivatives of the cost functions with respect to " | ||
| 64 | "the state only.\n\n" | ||
| 65 | "It updates the derivatives of the cost function with respect to " | ||
| 66 | "the state only. This function is used in the terminal nodes of " | ||
| 67 | "an optimal control problem.\n" | ||
| 68 | ":param data: action data\n" | ||
| 69 | ":param x: state point (dim. state.nx)") | ||
| 70 | ✗ | .def("createData", &Model::createData, &Model::default_createData, | |
| 71 | bp::args("self"), | ||
| 72 | "Create the differential action data.\n\n" | ||
| 73 | "Each differential action model has its own data that needs to be " | ||
| 74 | "allocated. This function returns the allocated data for a " | ||
| 75 | "predefined DAM.\n" | ||
| 76 | ":return DAM data.") | ||
| 77 | ✗ | .def("quasiStatic", &Model::quasiStatic_x, | |
| 78 | ✗ | DifferentialActionModel_quasiStatic_wraps( | |
| 79 | bp::args("self", "data", "x", "maxiter", "tol"), | ||
| 80 | "Compute the quasic-static control given a state.\n\n" | ||
| 81 | "It runs an iterative Newton step in order to compute the " | ||
| 82 | "quasic-static regime given a state configuration.\n" | ||
| 83 | ":param data: action data\n" | ||
| 84 | ":param x: discrete-time state vector\n" | ||
| 85 | ":param maxiter: maximum allowed number of iterations\n" | ||
| 86 | ":param tol: stopping tolerance criteria (default 1e-9)\n" | ||
| 87 | ":return u: quasic-static control")) | ||
| 88 | ✗ | .def("quasiStatic", &Model::quasiStatic, &Model::default_quasiStatic, | |
| 89 | bp::args("self", "data", "u", "x", "maxiter", "tol")) | ||
| 90 | ✗ | .add_property("nu", bp::make_function(&Model::get_nu), | |
| 91 | "dimension of control vector") | ||
| 92 | ✗ | .add_property("nr", bp::make_function(&Model::get_nr), | |
| 93 | "dimension of cost-residual vector") | ||
| 94 | ✗ | .add_property("ng", bp::make_function(&Model::get_ng), | |
| 95 | "number of inequality constraints") | ||
| 96 | ✗ | .add_property("nh", bp::make_function(&Model::get_nh), | |
| 97 | "number of equality constraints") | ||
| 98 | ✗ | .add_property("ng_T", bp::make_function(&Model::get_ng_T), | |
| 99 | "number of inequality terminal constraints") | ||
| 100 | ✗ | .add_property("nh_T", bp::make_function(&Model::get_nh_T), | |
| 101 | "number of equality terminal constraints") | ||
| 102 | ✗ | .add_property( | |
| 103 | "state", | ||
| 104 | bp::make_function(&Model::get_state, | ||
| 105 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 106 | "state") | ||
| 107 | ✗ | .add_property("g_lb", | |
| 108 | bp::make_function(&Model::get_g_lb, | ||
| 109 | ✗ | bp::return_internal_reference<>()), | |
| 110 | &Model::set_g_lb, | ||
| 111 | "lower bound of the inequality constraints") | ||
| 112 | ✗ | .add_property("g_ub", | |
| 113 | bp::make_function(&Model::get_g_ub, | ||
| 114 | ✗ | bp::return_internal_reference<>()), | |
| 115 | &Model::set_g_ub, | ||
| 116 | "upper bound of the inequality constraints") | ||
| 117 | ✗ | .add_property("u_lb", | |
| 118 | bp::make_function(&Model::get_u_lb, | ||
| 119 | ✗ | bp::return_internal_reference<>()), | |
| 120 | &Model::set_u_lb, "lower control limits") | ||
| 121 | ✗ | .add_property("u_ub", | |
| 122 | bp::make_function(&Model::get_u_ub, | ||
| 123 | ✗ | bp::return_internal_reference<>()), | |
| 124 | &Model::set_u_ub, "upper control limits") | ||
| 125 | ✗ | .add_property("has_control_limits", | |
| 126 | bp::make_function(&Model::get_has_control_limits), | ||
| 127 | "indicates whether problem has finite control limits"); | ||
| 128 | ✗ | } | |
| 129 | }; | ||
| 130 | |||
| 131 | template <typename Data> | ||
| 132 | struct DifferentialActionDataAbstractVisitor | ||
| 133 | : public bp::def_visitor<DifferentialActionDataAbstractVisitor<Data>> { | ||
| 134 | template <class PyClass> | ||
| 135 | ✗ | void visit(PyClass& cl) const { | |
| 136 | ✗ | cl.add_property( | |
| 137 | "cost", | ||
| 138 | ✗ | bp::make_getter(&Data::cost, | |
| 139 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 140 | ✗ | bp::make_setter(&Data::cost), "cost value") | |
| 141 | ✗ | .add_property( | |
| 142 | "xout", | ||
| 143 | ✗ | bp::make_getter(&Data::xout, bp::return_internal_reference<>()), | |
| 144 | ✗ | bp::make_setter(&Data::xout), "evolution state") | |
| 145 | ✗ | .add_property( | |
| 146 | ✗ | "r", bp::make_getter(&Data::r, bp::return_internal_reference<>()), | |
| 147 | ✗ | bp::make_setter(&Data::r), "cost residual") | |
| 148 | ✗ | .add_property( | |
| 149 | ✗ | "Fx", bp::make_getter(&Data::Fx, bp::return_internal_reference<>()), | |
| 150 | ✗ | bp::make_setter(&Data::Fx), | |
| 151 | "Jacobian of the dynamics w.r.t. the state") | ||
| 152 | ✗ | .add_property( | |
| 153 | ✗ | "Fu", bp::make_getter(&Data::Fu, bp::return_internal_reference<>()), | |
| 154 | ✗ | bp::make_setter(&Data::Fu), | |
| 155 | "Jacobian of the dynamics w.r.t. the control") | ||
| 156 | ✗ | .add_property( | |
| 157 | ✗ | "Lx", bp::make_getter(&Data::Lx, bp::return_internal_reference<>()), | |
| 158 | ✗ | bp::make_setter(&Data::Lx), "Jacobian of the cost w.r.t. the state") | |
| 159 | ✗ | .add_property( | |
| 160 | ✗ | "Lu", bp::make_getter(&Data::Lu, bp::return_internal_reference<>()), | |
| 161 | ✗ | bp::make_setter(&Data::Lu), | |
| 162 | "Jacobian of the cost w.r.t. the control") | ||
| 163 | ✗ | .add_property( | |
| 164 | "Lxx", | ||
| 165 | ✗ | bp::make_getter(&Data::Lxx, bp::return_internal_reference<>()), | |
| 166 | ✗ | bp::make_setter(&Data::Lxx), "Hessian of the cost w.r.t. the state") | |
| 167 | ✗ | .add_property( | |
| 168 | "Lxu", | ||
| 169 | ✗ | bp::make_getter(&Data::Lxu, bp::return_internal_reference<>()), | |
| 170 | ✗ | bp::make_setter(&Data::Lxu), | |
| 171 | "Hessian of the cost w.r.t. the state and control") | ||
| 172 | ✗ | .add_property( | |
| 173 | "Luu", | ||
| 174 | ✗ | bp::make_getter(&Data::Luu, bp::return_internal_reference<>()), | |
| 175 | ✗ | bp::make_setter(&Data::Luu), | |
| 176 | "Hessian of the cost w.r.t. the control") | ||
| 177 | ✗ | .add_property( | |
| 178 | ✗ | "g", bp::make_getter(&Data::g, bp::return_internal_reference<>()), | |
| 179 | ✗ | bp::make_setter(&Data::g), "Inequality constraint values") | |
| 180 | ✗ | .add_property( | |
| 181 | ✗ | "Gx", bp::make_getter(&Data::Gx, bp::return_internal_reference<>()), | |
| 182 | ✗ | bp::make_setter(&Data::Gx), | |
| 183 | "Jacobian of the inequality constraint w.r.t. the state") | ||
| 184 | ✗ | .add_property( | |
| 185 | ✗ | "Gu", bp::make_getter(&Data::Gu, bp::return_internal_reference<>()), | |
| 186 | ✗ | bp::make_setter(&Data::Gu), | |
| 187 | "Jacobian of the inequality constraint w.r.t. the control") | ||
| 188 | ✗ | .add_property( | |
| 189 | ✗ | "h", bp::make_getter(&Data::h, bp::return_internal_reference<>()), | |
| 190 | ✗ | bp::make_setter(&Data::h), "Equality constraint values") | |
| 191 | ✗ | .add_property( | |
| 192 | ✗ | "Hx", bp::make_getter(&Data::Hx, bp::return_internal_reference<>()), | |
| 193 | ✗ | bp::make_setter(&Data::Hx), | |
| 194 | "Jacobian of the equality constraint w.r.t. the state") | ||
| 195 | ✗ | .add_property( | |
| 196 | ✗ | "Hu", bp::make_getter(&Data::Hu, bp::return_internal_reference<>()), | |
| 197 | ✗ | bp::make_setter(&Data::Hu), | |
| 198 | "Jacobian of the equality constraint w.r.t. the control"); | ||
| 199 | ✗ | } | |
| 200 | }; | ||
| 201 | |||
| 202 | #define CROCODDYL_DIFFACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 203 | typedef DifferentialActionModelAbstractTpl<Scalar> Model; \ | ||
| 204 | typedef DifferentialActionModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 205 | typedef StateAbstractTpl<Scalar> State; \ | ||
| 206 | typedef std::shared_ptr<Model> DifferentialActionModelPtr; \ | ||
| 207 | StdVectorPythonVisitor<std::vector<DifferentialActionModelPtr>, \ | ||
| 208 | true>::expose("StdVec_DiffActionModel"); \ | ||
| 209 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 210 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 211 | "DifferentialActionModelAbstract", \ | ||
| 212 | "Abstract class for the differential action model.\n\n" \ | ||
| 213 | "A differential action model is the time-continuous version of an " \ | ||
| 214 | "action model. Each node, in our optimal control problem, is described " \ | ||
| 215 | "through an action model. Every time that we want describe a problem, " \ | ||
| 216 | "we need to provide ways of computing the dynamics, cost functions, " \ | ||
| 217 | "constraints and their derivatives. These computations are mainly " \ | ||
| 218 | "carried out inside calc() and calcDiff(), respectively.", \ | ||
| 219 | bp::init<std::shared_ptr<State>, std::size_t, \ | ||
| 220 | bp::optional<std::size_t, std::size_t, std::size_t, \ | ||
| 221 | std::size_t, std::size_t>>( \ | ||
| 222 | bp::args("self", "state", "nu", "nr", "ng", "nh", "ng_T", "nh_T"), \ | ||
| 223 | "Initialize the differential action model.\n\n" \ | ||
| 224 | "We can also describe autonomous systems by setting nu = 0.\n" \ | ||
| 225 | ":param state: state\n" \ | ||
| 226 | ":param nu: dimension of control vector\n" \ | ||
| 227 | ":param nr: dimension of cost-residual vector (default 1)\n" \ | ||
| 228 | ":param ng: number of inequality constraints (default 0)\n" \ | ||
| 229 | ":param nh: number of equality constraints (default 0)\n" \ | ||
| 230 | ":param ng_T: number of inequality terminal constraints (default " \ | ||
| 231 | "0)\n" \ | ||
| 232 | ":param nh_T: number of equality terminal constraints (default 0)")) \ | ||
| 233 | .def(DifferentialActionModelAbstractVisitor<Model_wrap>()) \ | ||
| 234 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 235 | .def(CopyableVisitor<Model_wrap>()); | ||
| 236 | |||
| 237 | #define CROCODDYL_DIFFACTION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 238 | typedef DifferentialActionDataAbstractTpl<Scalar> Data; \ | ||
| 239 | typedef DifferentialActionModelAbstractTpl<Scalar> Model; \ | ||
| 240 | typedef std::shared_ptr<Data> DifferentialActionDataPtr; \ | ||
| 241 | StdVectorPythonVisitor<std::vector<DifferentialActionDataPtr>, \ | ||
| 242 | true>::expose("StdVec_DiffActionData"); \ | ||
| 243 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 244 | bp::class_<Data, boost::noncopyable>( \ | ||
| 245 | "DifferentialActionDataAbstract", \ | ||
| 246 | "Abstract class for differential action data.\n\n" \ | ||
| 247 | "In crocoddyl, an action data contains all the required information " \ | ||
| 248 | "for processing an user-defined action model. The action data " \ | ||
| 249 | "typically is allocated onces by running model.createData() and " \ | ||
| 250 | "contains the first- and second-order derivatives of the dynamics and " \ | ||
| 251 | "cost function, respectively.", \ | ||
| 252 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 253 | "Create common data shared between DAMs.\n\n" \ | ||
| 254 | "The differential action data uses the model in order " \ | ||
| 255 | "to first process it.\n" \ | ||
| 256 | ":param model: differential action model")) \ | ||
| 257 | .def(DifferentialActionDataAbstractVisitor<Data>()) \ | ||
| 258 | .def(CopyableVisitor<Data>()); | ||
| 259 | |||
| 260 | ✗ | void exposeDifferentialActionAbstract() { | |
| 261 | ✗ | CROCODDYL_DIFFACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(double) | |
| 262 | ✗ | CROCODDYL_DIFFACTION_DATA_ABSTRACT_PYTHON_BINDINGS(double) | |
| 263 | ✗ | } | |
| 264 | |||
| 265 | } // namespace python | ||
| 266 | } // namespace crocoddyl | ||
| 267 |