| 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, University of Trento, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | // Auto-generated file for double | ||
| 12 | #include "crocoddyl/core/integrator/euler.hpp" | ||
| 13 | |||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | #include "python/crocoddyl/core/integ-action-base.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | template <typename Model> | ||
| 21 | struct IntegratedActionModelEulerVisitor | ||
| 22 | : public bp::def_visitor<IntegratedActionModelEulerVisitor<Model>> { | ||
| 23 | typedef typename Model::Scalar Scalar; | ||
| 24 | typedef typename Model::ActionDataAbstract Data; | ||
| 25 | typedef | ||
| 26 | typename Model::DifferentialActionModelAbstract DifferentialActionModel; | ||
| 27 | typedef typename Model::ControlParametrizationModelAbstract | ||
| 28 | ControlParametrizationModel; | ||
| 29 | typedef typename Model::VectorXs VectorXs; | ||
| 30 | template <class PyClass> | ||
| 31 | ✗ | void visit(PyClass& cl) const { | |
| 32 | ✗ | cl.def(bp::init<std::shared_ptr<DifferentialActionModel>, | |
| 33 | std::shared_ptr<ControlParametrizationModel>, | ||
| 34 | bp::optional<Scalar, bool>>( | ||
| 35 | bp::args("self", "diffModel", "control", "stepTime", | ||
| 36 | "withCostResidual"), | ||
| 37 | "Initialize the Euler integrator.\n\n" | ||
| 38 | ":param diffModel: differential action model\n" | ||
| 39 | ":param control: the control parametrization\n" | ||
| 40 | ":param stepTime: step time (default 1e-3)\n" | ||
| 41 | ":param withCostResidual: includes the cost residuals and " | ||
| 42 | "derivatives (default True).")) | ||
| 43 | ✗ | .def( | |
| 44 | "calc", | ||
| 45 | static_cast<void (Model::*)( | ||
| 46 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 47 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 48 | bp::args("self", "data", "x", "u"), | ||
| 49 | "Compute the time-discrete evolution of a differential action " | ||
| 50 | "model.\n\n" | ||
| 51 | "It describes the time-discrete evolution of action model.\n" | ||
| 52 | ":param data: action data\n" | ||
| 53 | ":param x: state point (dim. state.nx)\n" | ||
| 54 | ":param u: control input (dim. nu)") | ||
| 55 | ✗ | .def("calc", | |
| 56 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 57 | const Eigen::Ref<const VectorXs>&)>( | ||
| 58 | &Model::calc), | ||
| 59 | bp::args("self", "data", "x")) | ||
| 60 | ✗ | .def( | |
| 61 | "calcDiff", | ||
| 62 | static_cast<void (Model::*)( | ||
| 63 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 64 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 65 | bp::args("self", "data", "x", "u"), | ||
| 66 | "Computes the derivatives of the integrated action model wrt state " | ||
| 67 | "and control. \n\n" | ||
| 68 | "This function builds a quadratic approximation of the action " | ||
| 69 | "model (i.e. dynamical system and cost function). It assumes that " | ||
| 70 | "calc has been run first.\n" | ||
| 71 | ":param data: action data\n" | ||
| 72 | ":param x: state point (dim. state.nx)\n" | ||
| 73 | ":param u: control input (dim. nu)") | ||
| 74 | ✗ | .def("calcDiff", | |
| 75 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 76 | const Eigen::Ref<const VectorXs>&)>( | ||
| 77 | &Model::calcDiff), | ||
| 78 | bp::args("self", "data", "x")) | ||
| 79 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 80 | "Create the Euler integrator data.") | ||
| 81 | ✗ | .add_property( | |
| 82 | "ng", bp::make_function(&Model::get_ng), "number of equality constraints") | ||
| 83 | ✗ | .add_property( | |
| 84 | "nh", bp::make_function(&Model::get_nh), "number of inequality constraints") | ||
| 85 | ✗ | .add_property( | |
| 86 | "ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") | ||
| 87 | ✗ | .add_property( | |
| 88 | "nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints"); | ||
| 89 | ✗ | } | |
| 90 | }; | ||
| 91 | |||
| 92 | template <typename Data> | ||
| 93 | struct IntegratedActionDataEulerVisitor | ||
| 94 | : public bp::def_visitor<IntegratedActionDataEulerVisitor<Data>> { | ||
| 95 | template <class PyClass> | ||
| 96 | ✗ | void visit(PyClass& cl) const { | |
| 97 | ✗ | cl.add_property( | |
| 98 | "differential", | ||
| 99 | ✗ | bp::make_getter(&Data::differential, | |
| 100 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 101 | "differential action data") | ||
| 102 | ✗ | .add_property( | |
| 103 | "control", | ||
| 104 | ✗ | bp::make_getter(&Data::control, | |
| 105 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 106 | "control parametrization data") | ||
| 107 | ✗ | .add_property( | |
| 108 | ✗ | "dx", bp::make_getter(&Data::dx, bp::return_internal_reference<>()), | |
| 109 | "state rate.") | ||
| 110 | ✗ | .add_property( | |
| 111 | "Lwu", | ||
| 112 | ✗ | bp::make_getter(&Data::Lwu, bp::return_internal_reference<>()), | |
| 113 | "Hessian of the cost wrt the differential control (w) and " | ||
| 114 | "the control parameters (u)."); | ||
| 115 | ✗ | } | |
| 116 | }; | ||
| 117 | |||
| 118 | #define CROCODDYL_INTACTION_MODEL_EULER_PYTHON_BINDINGS(Scalar) \ | ||
| 119 | typedef IntegratedActionModelEulerTpl<Scalar> Model; \ | ||
| 120 | typedef IntegratedActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 121 | typedef ActionModelAbstractTpl<Scalar> ActionBase; \ | ||
| 122 | typedef DifferentialActionModelAbstractTpl<Scalar> DiffActionBase; \ | ||
| 123 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 124 | bp::class_<Model, bp::bases<ModelBase, ActionBase>>( \ | ||
| 125 | "IntegratedActionModelEuler", \ | ||
| 126 | "Sympletic Euler integrator for differential action models.\n\n" \ | ||
| 127 | "This class implements a sympletic Euler integrator (a.k.a " \ | ||
| 128 | "semi-implicit integrator) give a differential action model, i.e.:\n" \ | ||
| 129 | " [q+, v+] = State.integrate([q, v], [v + a * dt, a * dt] * dt).", \ | ||
| 130 | bp::init<std::shared_ptr<DiffActionBase>, bp::optional<Scalar, bool>>( \ | ||
| 131 | bp::args("self", "diffModel", "stepTime", "withCostResidual"), \ | ||
| 132 | "Initialize the sympletic Euler integrator.\n\n" \ | ||
| 133 | ":param diffModel: differential action model\n" \ | ||
| 134 | ":param stepTime: step time (default 1e-3)\n" \ | ||
| 135 | ":param withCostResidual: includes the cost residuals and " \ | ||
| 136 | "derivatives (default True).")) \ | ||
| 137 | .def(IntegratedActionModelEulerVisitor<Model>()) \ | ||
| 138 | .def(CastVisitor<Model>()) \ | ||
| 139 | .def(PrintableVisitor<Model>()) \ | ||
| 140 | .def(CopyableVisitor<Model>()); | ||
| 141 | |||
| 142 | #define CROCODDYL_INTACTION_DATA_EULER_PYTHON_BINDINGS(Scalar) \ | ||
| 143 | typedef IntegratedActionDataEulerTpl<Scalar> Data; \ | ||
| 144 | typedef IntegratedActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 145 | typedef IntegratedActionModelEulerTpl<Scalar> Model; \ | ||
| 146 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 147 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 148 | "IntegratedActionDataEuler", "Sympletic Euler integrator data.", \ | ||
| 149 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 150 | "Create sympletic Euler integrator data.\n\n" \ | ||
| 151 | ":param model: sympletic Euler integrator model")) \ | ||
| 152 | .def(IntegratedActionDataEulerVisitor<Data>()) \ | ||
| 153 | .def(CopyableVisitor<Data>()); | ||
| 154 | |||
| 155 | ✗ | void exposeIntegratedActionEuler() { | |
| 156 | ✗ | CROCODDYL_INTACTION_MODEL_EULER_PYTHON_BINDINGS(double) | |
| 157 | ✗ | CROCODDYL_INTACTION_DATA_EULER_PYTHON_BINDINGS(double) | |
| 158 | ✗ | } | |
| 159 | |||
| 160 | } // namespace python | ||
| 161 | } // namespace crocoddyl | ||
| 162 |