| 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 | // Auto-generated file for float | ||
| 11 | #include "crocoddyl/core/numdiff/diff-action.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 15 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | template <typename Model> | ||
| 21 | struct DifferentialActionModelNumDiffVisitor | ||
| 22 | : public bp::def_visitor<DifferentialActionModelNumDiffVisitor<Model>> { | ||
| 23 | typedef typename Model::DifferentialActionDataAbstract Data; | ||
| 24 | typedef typename Model::VectorXs VectorXs; | ||
| 25 | template <class PyClass> | ||
| 26 | ✗ | void visit(PyClass& cl) const { | |
| 27 | ✗ | cl.def("calc", | |
| 28 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 29 | const Eigen::Ref<const VectorXs>&)>( | ||
| 30 | &Model::calc), | ||
| 31 | bp::args("self", "data", "x")) | ||
| 32 | ✗ | .def( | |
| 33 | "calc", | ||
| 34 | static_cast<void (Model::*)( | ||
| 35 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 36 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 37 | bp::args("self", "data", "x", "u"), | ||
| 38 | "Compute the next state and cost value.\n\n" | ||
| 39 | "The system evolution is described in model.\n" | ||
| 40 | ":param data: NumDiff action data\n" | ||
| 41 | ":param x: state point (dim. state.nx)\n" | ||
| 42 | ":param u: control input (dim. nu)") | ||
| 43 | ✗ | .def("calcDiff", | |
| 44 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 45 | const Eigen::Ref<const VectorXs>&)>( | ||
| 46 | &Model::calcDiff), | ||
| 47 | bp::args("self", "data", "x")) | ||
| 48 | ✗ | .def( | |
| 49 | "calcDiff", | ||
| 50 | static_cast<void (Model::*)( | ||
| 51 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 52 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 53 | bp::args("self", "data", "x", "u"), | ||
| 54 | "Compute the derivatives of the dynamics and cost functions.\n\n" | ||
| 55 | "It computes the Jacobian and Hessian using numerical " | ||
| 56 | "differentiation.\n" | ||
| 57 | "It assumes that calc has been run first.\n" | ||
| 58 | ":param data: NumDiff action data\n" | ||
| 59 | ":param x: state point (dim. state.nx)\n" | ||
| 60 | ":param u: control input (dim. nu)") | ||
| 61 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 62 | "Create the action data.\n\n" | ||
| 63 | "Each action model (AM) has its own data that needs to be " | ||
| 64 | "allocated.\n" | ||
| 65 | "This function returns the allocated data for a predefined AM.\n" | ||
| 66 | ":return AM data.") | ||
| 67 | ✗ | .add_property( | |
| 68 | "model", | ||
| 69 | bp::make_function(&Model::get_model, | ||
| 70 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 71 | "action model") | ||
| 72 | ✗ | .add_property( | |
| 73 | "disturbance", bp::make_function(&Model::get_disturbance), | ||
| 74 | &Model::set_disturbance, | ||
| 75 | "disturbance constant used in the numerical differentiation") | ||
| 76 | ✗ | .add_property("withGaussApprox", | |
| 77 | bp::make_function(&Model::get_with_gauss_approx), | ||
| 78 | "Gauss approximation for computing the Hessians"); | ||
| 79 | ✗ | } | |
| 80 | }; | ||
| 81 | |||
| 82 | template <typename Data> | ||
| 83 | struct DifferentialActionDataNumDiffVisitor | ||
| 84 | : public bp::def_visitor<DifferentialActionDataNumDiffVisitor<Data>> { | ||
| 85 | template <class PyClass> | ||
| 86 | ✗ | void visit(PyClass& cl) const { | |
| 87 | ✗ | cl.add_property( | |
| 88 | ✗ | "Rx", bp::make_getter(&Data::Rx, bp::return_internal_reference<>()), | |
| 89 | "Jacobian of the cost residual.") | ||
| 90 | ✗ | .add_property( | |
| 91 | ✗ | "Ru", bp::make_getter(&Data::Ru, bp::return_internal_reference<>()), | |
| 92 | "Jacobian of the cost residual.") | ||
| 93 | ✗ | .add_property( | |
| 94 | ✗ | "dx", bp::make_getter(&Data::dx, bp::return_internal_reference<>()), | |
| 95 | "state disturbance.") | ||
| 96 | ✗ | .add_property( | |
| 97 | ✗ | "du", bp::make_getter(&Data::du, bp::return_internal_reference<>()), | |
| 98 | "control disturbance.") | ||
| 99 | ✗ | .add_property( | |
| 100 | ✗ | "xp", bp::make_getter(&Data::xp, bp::return_internal_reference<>()), | |
| 101 | "rate state after disturbance.") | ||
| 102 | ✗ | .add_property( | |
| 103 | "data_0", | ||
| 104 | ✗ | bp::make_getter(&Data::data_0, | |
| 105 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 106 | "data that contains the final results") | ||
| 107 | ✗ | .add_property( | |
| 108 | "data_x", | ||
| 109 | ✗ | bp::make_getter(&Data::data_x, | |
| 110 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 111 | "temporary data associated with the state variation") | ||
| 112 | ✗ | .add_property( | |
| 113 | "data_u", | ||
| 114 | ✗ | bp::make_getter(&Data::data_u, | |
| 115 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 116 | "temporary data associated with the control variation"); | ||
| 117 | ✗ | } | |
| 118 | }; | ||
| 119 | |||
| 120 | #define CROCODDYL_DIFFACTION_MODEL_NUMDIFF_PYTHON_BINDINGS(Scalar) \ | ||
| 121 | typedef DifferentialActionModelNumDiffTpl<Scalar> Model; \ | ||
| 122 | typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 123 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 124 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 125 | "DifferentialActionModelNumDiff", \ | ||
| 126 | "Abstract class for computing calcDiff by using numerical " \ | ||
| 127 | "differentiation.\n\n", \ | ||
| 128 | bp::init<std::shared_ptr<ModelBase>, bp::optional<bool>>( \ | ||
| 129 | bp::args("self", "model", "gaussApprox"), \ | ||
| 130 | "Initialize the action model NumDiff.\n\n" \ | ||
| 131 | ":param model: action model where we compute the derivatives " \ | ||
| 132 | "through NumDiff.\n" \ | ||
| 133 | ":param gaussApprox: compute the Hessian using Gauss approximation " \ | ||
| 134 | "(default False)")) \ | ||
| 135 | .def(DifferentialActionModelNumDiffVisitor<Model>()) \ | ||
| 136 | .def(CastVisitor<Model>()) \ | ||
| 137 | .def(PrintableVisitor<Model>()) \ | ||
| 138 | .def(CopyableVisitor<Model>()); | ||
| 139 | |||
| 140 | #define CROCODDYL_DIFFACTION_DATA_NUMDIFF_PYTHON_BINDINGS(Scalar) \ | ||
| 141 | typedef DifferentialActionDataNumDiffTpl<Scalar> Data; \ | ||
| 142 | typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 143 | typedef DifferentialActionModelNumDiffTpl<Scalar> Model; \ | ||
| 144 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 145 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 146 | "DifferentialActionDataNumDiff", \ | ||
| 147 | "Numerical differentiation diff-action data.", \ | ||
| 148 | bp::init<Model*>( \ | ||
| 149 | bp::args("self", "model"), \ | ||
| 150 | "Create numerical differentiation diff-action data.\n\n" \ | ||
| 151 | ":param model: numdiff diff-action model")) \ | ||
| 152 | .def(DifferentialActionDataNumDiffVisitor<Data>()) \ | ||
| 153 | .def(CopyableVisitor<Data>()); | ||
| 154 | |||
| 155 | ✗ | void exposeDifferentialActionNumDiff() { | |
| 156 | ✗ | CROCODDYL_DIFFACTION_MODEL_NUMDIFF_PYTHON_BINDINGS(float) | |
| 157 | ✗ | CROCODDYL_DIFFACTION_DATA_NUMDIFF_PYTHON_BINDINGS(float) | |
| 158 | ✗ | } | |
| 159 | |||
| 160 | } // namespace python | ||
| 161 | } // namespace crocoddyl | ||
| 162 |