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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 double |
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#include "crocoddyl/core/actions/diff-lqr.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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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct DifferentialActionModelLQRVisitor |
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: public bp::def_visitor<DifferentialActionModelLQRVisitor<Model>> { |
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typedef typename Model::DifferentialActionDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::MatrixXs MatrixXs; |
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typedef typename Model::VectorXs VectorXs; |
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BOOST_PYTHON_FUNCTION_OVERLOADS(DifferentialActionModelLQR_Random_wrap, |
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Model::Random, 2, 4) |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, |
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VectorXs, VectorXs, VectorXs>( |
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bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"), |
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"Initialize the differential LQR action model.\n\n" |
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":param Aq: position matrix\n" |
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":param Av: velocity matrix\n" |
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":param B: input matrix\n" |
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":param Q: state weight matrix\n" |
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":param R: input weight matrix\n" |
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":param N: state-input weight matrix\n" |
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":param f: dynamics drift\n" |
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":param q: state weight vector\n" |
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":param r: input weight vector")) |
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.def(bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, |
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MatrixXs, MatrixXs, MatrixXs, VectorXs, VectorXs, |
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VectorXs, VectorXs, VectorXs>( |
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bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "G", "H", "f", "q", |
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"r", "g", "h"), |
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"Initialize the differential LQR action model.\n\n" |
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":param Aq: position matrix\n" |
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":param Av: velocity matrix\n" |
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":param B: input matrix\n" |
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":param Q: state weight matrix\n" |
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":param R: input weight matrix\n" |
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":param N: state-input weight matrix\n" |
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":param G: state-input inequality constraint matrix\n" |
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":param H: state-input equality constraint matrix\n" |
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":param f: dynamics drift\n" |
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":param q: state weight vector\n" |
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":param r: input weight vector\n" |
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":param g: state-input inequality constraint bias\n" |
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":param h: state-input equality constraint bias")) |
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.def(bp::init<std::size_t, std::size_t, bp::optional<bool>>( |
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bp::args("self", "nq", "nu", "driftFree"), |
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"Initialize the differential LQR action model.\n\n" |
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":param nx: dimension of the state vector\n" |
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":param nu: dimension of the control vector\n" |
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":param driftFree: enable/disable the bias term of the linear " |
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"dynamics (default True)")) |
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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 next state and cost value.\n\n" |
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"It describes the time-continuous evolution of the LQR system. " |
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"Additionally it computes the cost value associated to this " |
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"discrete state and control pair.\n" |
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":param data: action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input") |
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.def("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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.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 differential LQR dynamics and cost " |
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"functions.\n\n" |
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"It computes the partial derivatives of the differential LQR " |
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"system " |
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"and the\n" |
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"cost function. It assumes that calc has been run first.\n" |
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"This function builds a quadratic approximation of the\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input\n") |
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.def("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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.def("createData", &Model::createData, bp::args("self"), |
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"Create the differential LQR action data.") |
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.def("Random", &Model::Random, |
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DifferentialActionModelLQR_Random_wrap( |
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bp::args("nq", "nu", "ng", "nh"), |
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"Create a random LQR model.\n\n" |
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":param: nq: position dimension\n" |
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":param nu: control dimension\n" |
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":param ng: inequality constraint dimension (default 0)\n" |
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":param nh: equality constraint dimension (default 0)")) |
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.staticmethod("Random") |
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.def("setLQR", &Model::set_LQR, |
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bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"), |
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"Modify the LQR action model.\n\n" |
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":param Aq: position matrix\n" |
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":param Av: velocity matrix\n" |
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":param B: input matrix\n" |
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":param Q: state weight matrix\n" |
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":param R: input weight matrix\n" |
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":param N: state-input weight matrix\n" |
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":param f: dynamics drift\n" |
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":param q: state weight vector\n" |
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":param r: input weight vector") |
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.add_property("Aq", |
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bp::make_function(&Model::get_Aq, |
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bp::return_internal_reference<>()), |
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"position matrix") |
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.add_property("Av", |
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bp::make_function(&Model::get_Av, |
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bp::return_internal_reference<>()), |
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"velocity matrix") |
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.add_property( |
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"B", |
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bp::make_function(&Model::get_B, bp::return_internal_reference<>()), |
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"input matrix") |
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.add_property( |
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"f", |
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bp::make_function(&Model::get_f, bp::return_internal_reference<>()), |
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"dynamics drift") |
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.add_property( |
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"Q", |
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bp::make_function(&Model::get_Q, bp::return_internal_reference<>()), |
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"state weight matrix") |
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.add_property( |
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"R", |
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bp::make_function(&Model::get_R, bp::return_internal_reference<>()), |
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"input weight matrix") |
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.add_property( |
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"N", |
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bp::make_function(&Model::get_N, bp::return_internal_reference<>()), |
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"state-input weight matrix") |
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.add_property( |
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"G", |
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bp::make_function(&Model::get_G, bp::return_internal_reference<>()), |
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"state-input inequality constraint matrix") |
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.add_property( |
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"H", |
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bp::make_function(&Model::get_H, bp::return_internal_reference<>()), |
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"state-input equality constraint matrix") |
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.add_property( |
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"q", |
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bp::make_function(&Model::get_q, bp::return_internal_reference<>()), |
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"state weight vector") |
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.add_property( |
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"r", |
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bp::make_function(&Model::get_r, bp::return_internal_reference<>()), |
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"input weight vector") |
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.add_property( |
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"g", |
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bp::make_function(&Model::get_g, bp::return_internal_reference<>()), |
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"state-input inequality constraint bias") |
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.add_property( |
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"h", |
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bp::make_function(&Model::get_h, bp::return_internal_reference<>()), |
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"state-input equality constraint bias") |
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// deprecated function |
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.add_property( |
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"Fq", |
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bp::make_function(&Model::get_Aq, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use Aq.")), |
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bp::make_function(&Model::set_Fq, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"position matrix") |
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.add_property( |
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"Fv", |
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bp::make_function(&Model::get_Av, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use Av.")), |
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bp::make_function(&Model::set_Fv, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"position matrix") |
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.add_property( |
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"Fu", |
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bp::make_function(&Model::get_B, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use B.")), |
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bp::make_function(&Model::set_Fu, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"input matrix") |
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.add_property( |
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"f0", |
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bp::make_function(&Model::get_f, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use f.")), |
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bp::make_function(&Model::set_f0, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"dynamics drift") |
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.add_property( |
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"lx", |
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bp::make_function(&Model::get_q, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use q.")), |
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bp::make_function(&Model::set_lx, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"state weight vector") |
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.add_property( |
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"lu", |
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bp::make_function(&Model::get_r, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use r.")), |
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bp::make_function(&Model::set_lu, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"input weight vector") |
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.add_property( |
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"Lxx", |
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bp::make_function(&Model::get_Q, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use Q.")), |
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bp::make_function(&Model::set_Lxx, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"state weight matrix") |
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.add_property( |
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"Lxu", |
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bp::make_function(&Model::get_N, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use N.")), |
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bp::make_function(&Model::set_Lxu, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"state-input weight matrix") |
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.add_property( |
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"Luu", |
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bp::make_function(&Model::get_R, |
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deprecated<bp::return_internal_reference<>>( |
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"Deprecated. Use R.")), |
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bp::make_function(&Model::set_Luu, |
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deprecated<>("Deprecated. Use set_LQR.")), |
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"input weight matrix"); |
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} |
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}; |
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#define CROCODDYL_DIFFACTION_MODEL_LQR_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionModelLQRTpl<Scalar> Model; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename ModelBase::MatrixXs MatrixXs; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"DifferentialActionModelLQR", \ |
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"Differential action model for linear dynamics and quadratic cost.\n\n" \ |
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"This class implements a linear dynamics, quadratic costs, and linear " \ |
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"constraints (i.e. LQR action). Since the DAM is a second order " \ |
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"system, and the integrated action models are implemented as being " \ |
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"second order integrators. This class implements a second order linear " \ |
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"system given by\n" \ |
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" x = [q, v]\n" \ |
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" dv = Fq q + Fv v + Fu u + f0\n" \ |
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"where Fq, Fv, Fu and f are randomly chosen constant terms. On the " \ |
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"other hand, the cost function is given by" \ |
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" l(x,u) = 1/2 [x,u].T [Q N; N.T R] [x,u] + [q,r].T [x,u],\n" \ |
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"and the linear equality and inequality constraints has the form:\n" \ |
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" g(x,u) = G [x,u] + g<=0\n" \ |
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" h(x,u) = H [x,u] + h.", \ |
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bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs>( \ |
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bp::args("self", "Aq", "Av", "B", "Q", "R", "N"), \ |
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"Initialize the differential LQR action model.\n\n" \ |
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":param Aq: position matrix\n" \ |
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":param Av: velocity matrix\n" \ |
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":param B: input matrix\n" \ |
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":param Q: state weight matrix\n" \ |
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":param R: input weight matrix\n" \ |
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":param N: state-input weight matrix")) \ |
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.def(DifferentialActionModelLQRVisitor<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_DIFFACTION_DATA_LQR_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionDataLQRTpl<Scalar> Data; \ |
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typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef DifferentialActionModelLQRTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"DifferentialActionDataLQR", \ |
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"Action data for the differential LQR system.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create differential LQR data.\n\n" \ |
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":param model: differential LQR action model")) \ |
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.def(CopyableVisitor<Data>()); |
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✗ |
void exposeDifferentialActionLQR() { |
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// TODO: Remove once the deprecated update call has been removed in a future |
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// release |
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#pragma GCC diagnostic push |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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CROCODDYL_DIFFACTION_MODEL_LQR_PYTHON_BINDINGS(double) |
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CROCODDYL_DIFFACTION_DATA_LQR_PYTHON_BINDINGS(double) |
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#pragma GCC diagnostic pop |
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} |
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} // namespace python |
| 322 |
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} // namespace crocoddyl |
| 323 |
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