GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actions/diff-lqr.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 119 119 100.0%
Branches: 120 240 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, 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 #include "crocoddyl/core/actions/diff-lqr.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/core/diff-action-base.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15 #include "python/crocoddyl/utils/deprecate.hpp"
16
17 namespace crocoddyl {
18 namespace python {
19
20 22 BOOST_PYTHON_FUNCTION_OVERLOADS(DifferentialActionModelLQR_Random_wrap,
21 DifferentialActionModelLQR::Random, 2, 4)
22
23 10 void exposeDifferentialActionLQR() {
24 // TODO: Remove once the deprecated update call has been removed in a future
25 // release
26 #pragma GCC diagnostic push
27 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
28
29 boost::python::register_ptr_to_python<
30 10 boost::shared_ptr<DifferentialActionModelLQR> >();
31
32
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 10 bp::class_<DifferentialActionModelLQR,
33 bp::bases<DifferentialActionModelAbstract> >(
34 "DifferentialActionModelLQR",
35 "Differential action model for linear dynamics and quadratic cost.\n\n"
36 "This class implements a linear dynamics, quadratic costs, and linear "
37 "constraints (i.e. LQR action). Since the DAM is a second order system, "
38 "and the integrated action models are implemented as being second order "
39 "integrators. This class implements a second order linear system given "
40 "by\n"
41 " x = [q, v]\n"
42 " dv = Fq q + Fv v + Fu u + f0\n"
43 "where Fq, Fv, Fu and f are randomly chosen constant terms. On the other "
44 "hand, the cost function is given by\n"
45 " l(x,u) = 1/2 [x,u].T [Q N; N.T R] [x,u] + [q,r].T [x,u],\n"
46 "and the linear equality and inequality constraints has the form:\n"
47 " g(x,u) = G [x,u] + g<=0\n"
48 " h(x,u) = H [x,u] + h.",
49
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 10 bp::init<Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd,
50 Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd>(
51 20 bp::args("self", "Aq", "Av", "B", "Q", "R", "N"),
52 "Initialize the differential LQR action model.\n\n"
53 ":param Aq: position matrix\n"
54 ":param Av: velocity matrix\n"
55 ":param B: input matrix\n"
56 ":param Q: state weight matrix\n"
57 ":param R: input weight matrix\n"
58 ":param N: state-input weight matrix"))
59
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 10 .def(bp::init<Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd,
60 Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd,
61 Eigen::VectorXd, Eigen::VectorXd, Eigen::VectorXd>(
62
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 20 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"),
63 "Initialize the differential LQR action model.\n\n"
64 ":param Aq: position matrix\n"
65 ":param Av: velocity matrix\n"
66 ":param B: input matrix\n"
67 ":param Q: state weight matrix\n"
68 ":param R: input weight matrix\n"
69 ":param N: state-input weight matrix\n"
70 ":param f: dynamics drift\n"
71 ":param q: state weight vector\n"
72 ":param r: input weight vector"))
73
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 10 .def(bp::init<Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd,
74 Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd,
75 Eigen::MatrixXd, Eigen::MatrixXd, Eigen::VectorXd,
76 Eigen::VectorXd, Eigen::VectorXd, Eigen::VectorXd,
77 Eigen::VectorXd>(
78
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 20 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "G", "H", "f", "q",
79 "r", "g", "h"),
80 "Initialize the differential LQR action model.\n\n"
81 ":param Aq: position matrix\n"
82 ":param Av: velocity matrix\n"
83 ":param B: input matrix\n"
84 ":param Q: state weight matrix\n"
85 ":param R: input weight matrix\n"
86 ":param N: state-input weight matrix\n"
87 ":param G: state-input inequality constraint matrix\n"
88 ":param H: state-input equality constraint matrix\n"
89 ":param f: dynamics drift\n"
90 ":param q: state weight vector\n"
91 ":param r: input weight vector\n"
92 ":param g: state-input inequality constraint bias\n"
93 ":param h: state-input equality constraint bias"))
94
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 10 .def(bp::init<std::size_t, std::size_t, bp::optional<bool> >(
95
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 20 bp::args("self", "nq", "nu", "driftFree"),
96 "Initialize the differential LQR action model.\n\n"
97 ":param nx: dimension of the state vector\n"
98 ":param nu: dimension of the control vector\n"
99 ":param driftFree: enable/disable the bias term of the linear "
100 "dynamics (default True)"))
101 .def<void (DifferentialActionModelLQR::*)(
102 const boost::shared_ptr<DifferentialActionDataAbstract>&,
103 const Eigen::Ref<const Eigen::VectorXd>&,
104 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
105 "calc", &DifferentialActionModelLQR::calc,
106
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 20 bp::args("self", "data", "x", "u"),
107 "Compute the next state and cost value.\n\n"
108 "It describes the time-continuous evolution of the LQR system. "
109 "Additionally it\n"
110 "computes the cost value associated to this discrete state and "
111 "control pair.\n"
112 ":param data: action data\n"
113 ":param x: time-continuous state vector\n"
114 ":param u: time-continuous control input")
115 .def<void (DifferentialActionModelLQR::*)(
116 const boost::shared_ptr<DifferentialActionDataAbstract>&,
117
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
118 "calc", &DifferentialActionModelAbstract::calc,
119
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 20 bp::args("self", "data", "x"))
120 .def<void (DifferentialActionModelLQR::*)(
121 const boost::shared_ptr<DifferentialActionDataAbstract>&,
122 const Eigen::Ref<const Eigen::VectorXd>&,
123
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
124 "calcDiff", &DifferentialActionModelLQR::calcDiff,
125
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 20 bp::args("self", "data", "x", "u"),
126 "Compute the derivatives of the differential LQR dynamics and cost "
127 "functions.\n\n"
128 "It computes the partial derivatives of the differential LQR system "
129 "and the\n"
130 "cost function. It assumes that calc has been run first.\n"
131 "This function builds a quadratic approximation of the\n"
132 "action model (i.e. dynamical system and cost function).\n"
133 ":param data: action data\n"
134 ":param x: time-continuous state vector\n"
135 ":param u: time-continuous control input\n")
136 .def<void (DifferentialActionModelLQR::*)(
137 const boost::shared_ptr<DifferentialActionDataAbstract>&,
138
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
139 "calcDiff", &DifferentialActionModelAbstract::calcDiff,
140
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 20 bp::args("self", "data", "x"))
141
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 20 .def("createData", &DifferentialActionModelLQR::createData,
142
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 20 bp::args("self"), "Create the differential LQR action data.")
143
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 10 .def("Random", &DifferentialActionModelLQR::Random,
144
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 10 DifferentialActionModelLQR_Random_wrap(
145
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 20 bp::args("nq", "nu", "ng", "nh"),
146 "Create a random LQR model.\n\n"
147 ":param: nq: position dimension\n"
148 ":param nu: control dimension\n"
149 ":param ng: inequality constraint dimension (default 0)\n"
150 ":param nh: equality constraint dimension (default 0)"))
151
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 10 .staticmethod("Random")
152
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 10 .def("setLQR", &DifferentialActionModelLQR::set_LQR,
153
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 20 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"),
154 "Modify the LQR action model.\n\n"
155 ":param Aq: position matrix\n"
156 ":param Av: velocity matrix\n"
157 ":param B: input matrix\n"
158 ":param Q: state weight matrix\n"
159 ":param R: input weight matrix\n"
160 ":param N: state-input weight matrix\n"
161 ":param f: dynamics drift\n"
162 ":param q: state weight vector\n"
163 ":param r: input weight vector")
164
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 10 .add_property("Aq",
165
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 10 bp::make_function(&DifferentialActionModelLQR::get_Aq,
166 10 bp::return_internal_reference<>()),
167 "position matrix")
168
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 10 .add_property("Av",
169
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 10 bp::make_function(&DifferentialActionModelLQR::get_Av,
170 10 bp::return_internal_reference<>()),
171 "velocity matrix")
172
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 10 .add_property("B",
173
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 10 bp::make_function(&DifferentialActionModelLQR::get_B,
174 10 bp::return_internal_reference<>()),
175 "input matrix")
176
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 10 .add_property("f",
177
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 10 bp::make_function(&DifferentialActionModelLQR::get_f,
178 10 bp::return_internal_reference<>()),
179 "dynamics drift")
180
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 10 .add_property("Q",
181
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 10 bp::make_function(&DifferentialActionModelLQR::get_Q,
182 10 bp::return_internal_reference<>()),
183 "state weight matrix")
184
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 10 .add_property("R",
185
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 10 bp::make_function(&DifferentialActionModelLQR::get_R,
186 10 bp::return_internal_reference<>()),
187 "input weight matrix")
188
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 10 .add_property("N",
189
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 10 bp::make_function(&DifferentialActionModelLQR::get_N,
190 10 bp::return_internal_reference<>()),
191 "state-input weight matrix")
192
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 10 .add_property("G",
193
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 10 bp::make_function(&DifferentialActionModelLQR::get_G,
194 10 bp::return_internal_reference<>()),
195 "state-input inequality constraint matrix")
196
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 10 .add_property("H",
197
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 10 bp::make_function(&DifferentialActionModelLQR::get_H,
198 10 bp::return_internal_reference<>()),
199 "state-input equality constraint matrix")
200
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 10 .add_property("q",
201
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 10 bp::make_function(&DifferentialActionModelLQR::get_q,
202 10 bp::return_internal_reference<>()),
203 "state weight vector")
204
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 10 .add_property("r",
205
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 10 bp::make_function(&DifferentialActionModelLQR::get_r,
206 10 bp::return_internal_reference<>()),
207 "input weight vector")
208
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 10 .add_property("g",
209
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 10 bp::make_function(&DifferentialActionModelLQR::get_g,
210 10 bp::return_internal_reference<>()),
211 "state-input inequality constraint bias")
212
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 10 .add_property("h",
213
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 10 bp::make_function(&DifferentialActionModelLQR::get_h,
214 10 bp::return_internal_reference<>()),
215 "state-input equality constraint bias")
216 // deprecated function
217
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 10 .add_property(
218 "Fq",
219
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 10 bp::make_function(&DifferentialActionModelLQR::get_Aq,
220
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 20 deprecated<bp::return_internal_reference<> >(
221 "Deprecated. Use Aq.")),
222
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 20 bp::make_function(&DifferentialActionModelLQR::set_Fq,
223
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 20 deprecated<>("Deprecated. Use set_LQR.")),
224 "position matrix")
225
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 10 .add_property(
226 "Fv",
227
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 10 bp::make_function(&DifferentialActionModelLQR::get_Av,
228
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 20 deprecated<bp::return_internal_reference<> >(
229 "Deprecated. Use Av.")),
230
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231
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 20 deprecated<>("Deprecated. Use set_LQR.")),
232 "position matrix")
233
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 10 .add_property(
234 "Fu",
235
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 10 bp::make_function(&DifferentialActionModelLQR::get_B,
236
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237 "Deprecated. Use B.")),
238
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 20 bp::make_function(&DifferentialActionModelLQR::set_Fu,
239
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 20 deprecated<>("Deprecated. Use set_LQR.")),
240 "input matrix")
241
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 10 .add_property(
242 "f0",
243
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 10 bp::make_function(&DifferentialActionModelLQR::get_f,
244
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245 "Deprecated. Use f.")),
246
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247
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 20 deprecated<>("Deprecated. Use set_LQR.")),
248 "dynamics drift")
249
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 10 .add_property(
250 "lx",
251
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 10 bp::make_function(&DifferentialActionModelLQR::get_q,
252
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 20 deprecated<bp::return_internal_reference<> >(
253 "Deprecated. Use q.")),
254
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255
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 20 deprecated<>("Deprecated. Use set_LQR.")),
256 "state weight vector")
257
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 10 .add_property(
258 "lu",
259
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 10 bp::make_function(&DifferentialActionModelLQR::get_r,
260
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 20 deprecated<bp::return_internal_reference<> >(
261 "Deprecated. Use r.")),
262
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 20 bp::make_function(&DifferentialActionModelLQR::set_lu,
263
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 20 deprecated<>("Deprecated. Use set_LQR.")),
264 "input weight vector")
265
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 10 .add_property(
266 "Lxx",
267
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 10 bp::make_function(&DifferentialActionModelLQR::get_Q,
268
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 20 deprecated<bp::return_internal_reference<> >(
269 "Deprecated. Use Q.")),
270
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 20 bp::make_function(&DifferentialActionModelLQR::set_Lxx,
271
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 20 deprecated<>("Deprecated. Use set_LQR.")),
272 "state weight matrix")
273
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 10 .add_property(
274 "Lxu",
275
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 10 bp::make_function(&DifferentialActionModelLQR::get_N,
276
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277 "Deprecated. Use N.")),
278
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279
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 20 deprecated<>("Deprecated. Use set_LQR.")),
280 "state-input weight matrix")
281
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 10 .add_property(
282 "Luu",
283
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 10 bp::make_function(&DifferentialActionModelLQR::get_R,
284
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 20 deprecated<bp::return_internal_reference<> >(
285 "Deprecated. Use R.")),
286
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287
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 20 deprecated<>("Deprecated. Use set_LQR.")),
288 "input weight matrix")
289
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 10 .def(CopyableVisitor<DifferentialActionModelLQR>());
290
291 boost::python::register_ptr_to_python<
292 10 boost::shared_ptr<DifferentialActionDataLQR> >();
293
294
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 10 bp::class_<DifferentialActionDataLQR,
295 bp::bases<DifferentialActionDataAbstract> >(
296 "DifferentialActionDataLQR",
297 "Action data for the differential LQR system.",
298
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 10 bp::init<DifferentialActionModelLQR*>(
299 20 bp::args("self", "model"),
300 "Create differential LQR data.\n\n"
301 ":param model: differential LQR action model"))
302
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 10 .def(CopyableVisitor<DifferentialActionDataLQR>());
303
304 #pragma GCC diagnostic pop
305 10 }
306
307 } // namespace python
308 } // namespace crocoddyl
309