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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ |
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#include "crocoddyl/core/diff-action-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename _Scalar> |
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class DifferentialActionModelAbstractTpl_wrap |
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: public DifferentialActionModelAbstractTpl<_Scalar>, |
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public bp::wrapper<DifferentialActionModelAbstractTpl<_Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(DifferentialActionModelBase, |
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DifferentialActionModelAbstractTpl_wrap) |
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typedef _Scalar Scalar; |
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typedef typename ScalarSelector<Scalar>::type ScalarType; |
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typedef typename crocoddyl::DifferentialActionModelAbstractTpl<Scalar> |
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DifferentialActionModel; |
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typedef typename crocoddyl::DifferentialActionDataAbstractTpl<Scalar> |
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DifferentialActionData; |
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typedef typename crocoddyl::StateAbstractTpl<Scalar> State; |
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typedef typename DifferentialActionModel::VectorXs VectorXs; |
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using DifferentialActionModel::ng_; |
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using DifferentialActionModel::ng_T_; |
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using DifferentialActionModel::nh_; |
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using DifferentialActionModel::nh_T_; |
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using DifferentialActionModel::nr_; |
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using DifferentialActionModel::nu_; |
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using DifferentialActionModel::state_; |
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using DifferentialActionModel::unone_; |
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DifferentialActionModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t nu, |
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const std::size_t nr = 1, |
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const std::size_t ng = 0, |
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const std::size_t nh = 0, |
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const std::size_t ng_T = 0, |
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const std::size_t nh_T = 0) |
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: DifferentialActionModel(state, nu, nr, ng, nh, ng_T, nh_T), |
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bp::wrapper<DifferentialActionModel>() { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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void calc(const std::shared_ptr<DifferentialActionData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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} |
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void calcDiff(const std::shared_ptr<DifferentialActionData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x, (VectorXs)u); |
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} |
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} |
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std::shared_ptr<DifferentialActionData> createData() override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<DifferentialActionData>>( |
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createData.ptr()); |
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} |
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return DifferentialActionModel::createData(); |
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} |
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std::shared_ptr<DifferentialActionData> default_createData() { |
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return this->DifferentialActionModel::createData(); |
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} |
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void quasiStatic(const std::shared_ptr<DifferentialActionData>& data, |
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Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, |
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const std::size_t maxiter, const Scalar tol) override { |
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if (boost::python::override quasiStatic = |
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this->get_override("quasiStatic")) { |
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u = bp::call<VectorXs>(quasiStatic.ptr(), data, (VectorXs)x, maxiter, |
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tol); |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return; |
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} |
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return DifferentialActionModel::quasiStatic(data, u, x, maxiter, tol); |
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} |
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void default_quasiStatic(const std::shared_ptr<DifferentialActionData>& data, |
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Eigen::Ref<VectorXs> u, |
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const Eigen::Ref<const VectorXs>& x, |
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const std::size_t maxiter, const Scalar tol) { |
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return this->DifferentialActionModel::quasiStatic(data, u, x, maxiter, tol); |
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} |
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template <typename NewScalar> |
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DifferentialActionModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef DifferentialActionModelAbstractTpl_wrap<NewScalar> ReturnType; |
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ReturnType ret(state_->template cast<NewScalar>(), nr_, nu_, ng_, nh_, |
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ng_T_, nh_T_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ |
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