GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/diff-action-base.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 66 66 100.0%
Branches: 128 256 50.0%
Line Branch Exec Source
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 #include "python/crocoddyl/core/diff-action-base.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/utils/vector-converter.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 template <typename Model>
19 struct DifferentialActionModelAbstractVisitor
20 : public bp::def_visitor<DifferentialActionModelAbstractVisitor<Model>> {
21 typedef typename Model::DifferentialActionModel ActionModel;
22 typedef typename Model::DifferentialActionData ActionData;
23 typedef typename Model::VectorXs VectorXs;
24 40 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(
25 DifferentialActionModel_quasiStatic_wraps, ActionModel::quasiStatic_x, 2,
26 4)
27 template <class PyClass>
28 40 void visit(PyClass& cl) const {
29
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 40 cl.def("calc", pure_virtual(&Model::calc),
30 bp::args("self", "data", "x", "u"),
31 "Compute the system acceleration and cost value.\n\n"
32 ":param data: differential action data\n"
33 ":param x: state point (dim. state.nx)\n"
34 ":param u: control input (dim. nu)")
35
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 80 .def("calc",
36 static_cast<void (ActionModel::*)(
37 const std::shared_ptr<ActionData>&,
38 const Eigen::Ref<const VectorXs>&)>(&ActionModel::calc),
39 bp::args("self", "data", "x"),
40 "Compute the total cost value for nodes that depends only on the "
41 "state.\n\n"
42 "It updates the total cost and the system acceleration is not "
43 "updated as the control input is undefined. This function is used "
44 "in the terminal nodes of an optimal control problem.\n"
45 ":param data: differential action data\n"
46 ":param x: state point (dim. state.nx)")
47
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 80 .def("calcDiff", pure_virtual(&Model::calcDiff),
48 bp::args("self", "data", "x", "u"),
49 "Compute the derivatives of the dynamics and cost functions.\n\n"
50 "It computes the partial derivatives of the dynamical system and "
51 "the cost function. It assumes that calc has been run first. This "
52 "function builds a quadratic approximation of the time-continuous "
53 "action model (i.e. dynamical system and cost function).\n"
54 ":param data: differential action data\n"
55 ":param x: state point (dim. state.nx)\n"
56 ":param u: control input (dim. nu)")
57
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 80 .def("calcDiff",
58 static_cast<void (ActionModel::*)(
59 const std::shared_ptr<ActionData>&,
60 const Eigen::Ref<const VectorXs>&)>(&ActionModel::calcDiff),
61 bp::args("self", "data", "x"),
62 "Compute the derivatives of the cost functions with respect to "
63 "the state only.\n\n"
64 "It updates the derivatives of the cost function with respect to "
65 "the state only. This function is used in the terminal nodes of "
66 "an optimal control problem.\n"
67 ":param data: action data\n"
68 ":param x: state point (dim. state.nx)")
69
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 80 .def("createData", &Model::createData, &Model::default_createData,
70 bp::args("self"),
71 "Create the differential action data.\n\n"
72 "Each differential action model has its own data that needs to be "
73 "allocated. This function returns the allocated data for a "
74 "predefined DAM.\n"
75 ":return DAM data.")
76
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 40 .def("quasiStatic", &Model::quasiStatic_x,
77
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 80 DifferentialActionModel_quasiStatic_wraps(
78 bp::args("self", "data", "x", "maxiter", "tol"),
79 "Compute the quasic-static control given a state.\n\n"
80 "It runs an iterative Newton step in order to compute the "
81 "quasic-static regime given a state configuration.\n"
82 ":param data: action data\n"
83 ":param x: discrete-time state vector\n"
84 ":param maxiter: maximum allowed number of iterations\n"
85 ":param tol: stopping tolerance criteria (default 1e-9)\n"
86 ":return u: quasic-static control"))
87
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 80 .def("quasiStatic", &Model::quasiStatic, &Model::default_quasiStatic,
88 bp::args("self", "data", "u", "x", "maxiter", "tol"))
89
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 80 .add_property("nu", bp::make_function(&Model::get_nu),
90 "dimension of control vector")
91
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 80 .add_property("nr", bp::make_function(&Model::get_nr),
92 "dimension of cost-residual vector")
93
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 80 .add_property("ng", bp::make_function(&Model::get_ng),
94 "number of inequality constraints")
95
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 80 .add_property("nh", bp::make_function(&Model::get_nh),
96 "number of equality constraints")
97
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 80 .add_property("ng_T", bp::make_function(&Model::get_ng_T),
98 "number of inequality terminal constraints")
99
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 80 .add_property("nh_T", bp::make_function(&Model::get_nh_T),
100 "number of equality terminal constraints")
101
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 40 .add_property(
102 "state",
103 bp::make_function(&Model::get_state,
104 40 bp::return_value_policy<bp::return_by_value>()),
105 "state")
106
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 40 .add_property("g_lb",
107 bp::make_function(&Model::get_g_lb,
108 40 bp::return_internal_reference<>()),
109 &Model::set_g_lb,
110 "lower bound of the inequality constraints")
111
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 80 .add_property("g_ub",
112 bp::make_function(&Model::get_g_ub,
113 40 bp::return_internal_reference<>()),
114 &Model::set_g_ub,
115 "upper bound of the inequality constraints")
116
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 80 .add_property("u_lb",
117 bp::make_function(&Model::get_u_lb,
118 40 bp::return_internal_reference<>()),
119 &Model::set_u_lb, "lower control limits")
120
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 80 .add_property("u_ub",
121 bp::make_function(&Model::get_u_ub,
122 40 bp::return_internal_reference<>()),
123 &Model::set_u_ub, "upper control limits")
124
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 80 .add_property("has_control_limits",
125 bp::make_function(&Model::get_has_control_limits),
126 "indicates whether problem has finite control limits");
127 40 }
128 };
129
130 template <typename Data>
131 struct DifferentialActionDataAbstractVisitor
132 : public bp::def_visitor<DifferentialActionDataAbstractVisitor<Data>> {
133 template <class PyClass>
134 40 void visit(PyClass& cl) const {
135
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 40 cl.add_property(
136 "cost",
137 bp::make_getter(&Data::cost,
138 40 bp::return_value_policy<bp::return_by_value>()),
139 bp::make_setter(&Data::cost), "cost value")
140
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 80 .add_property(
141 "xout",
142 40 bp::make_getter(&Data::xout, bp::return_internal_reference<>()),
143 bp::make_setter(&Data::xout), "evolution state")
144
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 80 .add_property(
145 40 "r", bp::make_getter(&Data::r, bp::return_internal_reference<>()),
146 bp::make_setter(&Data::r), "cost residual")
147
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 80 .add_property(
148 40 "Fx", bp::make_getter(&Data::Fx, bp::return_internal_reference<>()),
149 bp::make_setter(&Data::Fx),
150 "Jacobian of the dynamics w.r.t. the state")
151
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 80 .add_property(
152 40 "Fu", bp::make_getter(&Data::Fu, bp::return_internal_reference<>()),
153 bp::make_setter(&Data::Fu),
154 "Jacobian of the dynamics w.r.t. the control")
155
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 80 .add_property(
156 40 "Lx", bp::make_getter(&Data::Lx, bp::return_internal_reference<>()),
157 bp::make_setter(&Data::Lx), "Jacobian of the cost w.r.t. the state")
158
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 80 .add_property(
159 40 "Lu", bp::make_getter(&Data::Lu, bp::return_internal_reference<>()),
160 bp::make_setter(&Data::Lu),
161 "Jacobian of the cost w.r.t. the control")
162
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 80 .add_property(
163 "Lxx",
164 40 bp::make_getter(&Data::Lxx, bp::return_internal_reference<>()),
165 bp::make_setter(&Data::Lxx), "Hessian of the cost w.r.t. the state")
166
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 80 .add_property(
167 "Lxu",
168 40 bp::make_getter(&Data::Lxu, bp::return_internal_reference<>()),
169 bp::make_setter(&Data::Lxu),
170 "Hessian of the cost w.r.t. the state and control")
171
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 80 .add_property(
172 "Luu",
173 40 bp::make_getter(&Data::Luu, bp::return_internal_reference<>()),
174 bp::make_setter(&Data::Luu),
175 "Hessian of the cost w.r.t. the control")
176
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 80 .add_property(
177 40 "g", bp::make_getter(&Data::g, bp::return_internal_reference<>()),
178 bp::make_setter(&Data::g), "Inequality constraint values")
179
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 80 .add_property(
180 40 "Gx", bp::make_getter(&Data::Gx, bp::return_internal_reference<>()),
181 bp::make_setter(&Data::Gx),
182 "Jacobian of the inequality constraint w.r.t. the state")
183
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 80 .add_property(
184 40 "Gu", bp::make_getter(&Data::Gu, bp::return_internal_reference<>()),
185 bp::make_setter(&Data::Gu),
186 "Jacobian of the inequality constraint w.r.t. the control")
187
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 80 .add_property(
188 40 "h", bp::make_getter(&Data::h, bp::return_internal_reference<>()),
189 bp::make_setter(&Data::h), "Equality constraint values")
190
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 80 .add_property(
191 40 "Hx", bp::make_getter(&Data::Hx, bp::return_internal_reference<>()),
192 bp::make_setter(&Data::Hx),
193 "Jacobian of the equality constraint w.r.t. the state")
194
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 80 .add_property(
195 40 "Hu", bp::make_getter(&Data::Hu, bp::return_internal_reference<>()),
196 bp::make_setter(&Data::Hu),
197 "Jacobian of the equality constraint w.r.t. the control");
198 40 }
199 };
200
201 #define CROCODDYL_DIFFACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \
202 typedef DifferentialActionModelAbstractTpl<Scalar> Model; \
203 typedef DifferentialActionModelAbstractTpl_wrap<Scalar> Model_wrap; \
204 typedef StateAbstractTpl<Scalar> State; \
205 typedef std::shared_ptr<Model> DifferentialActionModelPtr; \
206 StdVectorPythonVisitor<std::vector<DifferentialActionModelPtr>, \
207 true>::expose("StdVec_DiffActionModel"); \
208 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
209 bp::class_<Model_wrap, boost::noncopyable>( \
210 "DifferentialActionModelAbstract", \
211 "Abstract class for the differential action model.\n\n" \
212 "A differential action model is the time-continuous version of an " \
213 "action model. Each node, in our optimal control problem, is described " \
214 "through an action model. Every time that we want describe a problem, " \
215 "we need to provide ways of computing the dynamics, cost functions, " \
216 "constraints and their derivatives. These computations are mainly " \
217 "carried out inside calc() and calcDiff(), respectively.", \
218 bp::init<std::shared_ptr<State>, std::size_t, \
219 bp::optional<std::size_t, std::size_t, std::size_t, \
220 std::size_t, std::size_t>>( \
221 bp::args("self", "state", "nu", "nr", "ng", "nh", "ng_T", "nh_T"), \
222 "Initialize the differential action model.\n\n" \
223 "We can also describe autonomous systems by setting nu = 0.\n" \
224 ":param state: state\n" \
225 ":param nu: dimension of control vector\n" \
226 ":param nr: dimension of cost-residual vector (default 1)\n" \
227 ":param ng: number of inequality constraints (default 0)\n" \
228 ":param nh: number of equality constraints (default 0)\n" \
229 ":param ng_T: number of inequality terminal constraints (default " \
230 "0)\n" \
231 ":param nh_T: number of equality terminal constraints (default 0)")) \
232 .def(DifferentialActionModelAbstractVisitor<Model_wrap>()) \
233 .def(PrintableVisitor<Model_wrap>()) \
234 .def(CopyableVisitor<Model_wrap>());
235
236 #define CROCODDYL_DIFFACTION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \
237 typedef DifferentialActionDataAbstractTpl<Scalar> Data; \
238 typedef DifferentialActionModelAbstractTpl<Scalar> Model; \
239 typedef std::shared_ptr<Data> DifferentialActionDataPtr; \
240 StdVectorPythonVisitor<std::vector<DifferentialActionDataPtr>, \
241 true>::expose("StdVec_DiffActionData"); \
242 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
243 bp::class_<Data, boost::noncopyable>( \
244 "DifferentialActionDataAbstract", \
245 "Abstract class for differential action data.\n\n" \
246 "In crocoddyl, an action data contains all the required information " \
247 "for processing an user-defined action model. The action data " \
248 "typically is allocated onces by running model.createData() and " \
249 "contains the first- and second-order derivatives of the dynamics and " \
250 "cost function, respectively.", \
251 bp::init<Model*>(bp::args("self", "model"), \
252 "Create common data shared between DAMs.\n\n" \
253 "The differential action data uses the model in order " \
254 "to first process it.\n" \
255 ":param model: differential action model")) \
256 .def(DifferentialActionDataAbstractVisitor<Data>()) \
257 .def(CopyableVisitor<Data>());
258
259 10 void exposeDifferentialActionAbstract() {
260
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_DIFFACTION_MODEL_ABSTRACT_PYTHON_BINDINGS)
261
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_DIFFACTION_DATA_ABSTRACT_PYTHON_BINDINGS)
262 10 }
263
264 } // namespace python
265 } // namespace crocoddyl
266