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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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// University of Oxford, University of Trento, |
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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/integrator/euler.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/integ-action-base.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 IntegratedActionModelEulerVisitor |
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: public bp::def_visitor<IntegratedActionModelEulerVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::ActionDataAbstract Data; |
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typedef |
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typename Model::DifferentialActionModelAbstract DifferentialActionModel; |
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typedef typename Model::ControlParametrizationModelAbstract |
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ControlParametrizationModel; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<std::shared_ptr<DifferentialActionModel>, |
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std::shared_ptr<ControlParametrizationModel>, |
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bp::optional<Scalar, bool>>( |
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bp::args("self", "diffModel", "control", "stepTime", |
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"withCostResidual"), |
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"Initialize the Euler integrator.\n\n" |
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":param diffModel: differential action model\n" |
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":param control: the control parametrization\n" |
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":param stepTime: step time (default 1e-3)\n" |
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":param withCostResidual: includes the cost residuals and " |
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"derivatives (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 time-discrete evolution of a differential action " |
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"model.\n\n" |
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"It describes the time-discrete evolution of action model.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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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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"Computes the derivatives of the integrated action model wrt state " |
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"and control. \n\n" |
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"This function builds a quadratic approximation of the action " |
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"model (i.e. dynamical system and cost function). It assumes that " |
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"calc has been run first.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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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 Euler integrator data.") |
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.add_property( |
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"ng", bp::make_function(&Model::get_ng), "number of equality constraints") |
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.add_property( |
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"nh", bp::make_function(&Model::get_nh), "number of inequality constraints") |
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.add_property( |
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"ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") |
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.add_property( |
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"nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints"); |
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} |
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}; |
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template <typename Data> |
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struct IntegratedActionDataEulerVisitor |
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: public bp::def_visitor<IntegratedActionDataEulerVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"differential", |
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bp::make_getter(&Data::differential, |
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bp::return_value_policy<bp::return_by_value>()), |
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"differential action data") |
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.add_property( |
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"control", |
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bp::make_getter(&Data::control, |
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bp::return_value_policy<bp::return_by_value>()), |
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"control parametrization data") |
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.add_property( |
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"dx", bp::make_getter(&Data::dx, bp::return_internal_reference<>()), |
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"state rate.") |
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.add_property( |
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"Lwu", |
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bp::make_getter(&Data::Lwu, bp::return_internal_reference<>()), |
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"Hessian of the cost wrt the differential control (w) and " |
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"the control parameters (u)."); |
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} |
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}; |
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#define CROCODDYL_INTACTION_MODEL_EULER_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionModelEulerTpl<Scalar> Model; \ |
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typedef IntegratedActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef ActionModelAbstractTpl<Scalar> ActionBase; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> DiffActionBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase, ActionBase>>( \ |
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"IntegratedActionModelEuler", \ |
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"Sympletic Euler integrator for differential action models.\n\n" \ |
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"This class implements a sympletic Euler integrator (a.k.a " \ |
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"semi-implicit integrator) give a differential action model, i.e.:\n" \ |
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" [q+, v+] = State.integrate([q, v], [v + a * dt, a * dt] * dt).", \ |
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bp::init<std::shared_ptr<DiffActionBase>, bp::optional<Scalar, bool>>( \ |
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bp::args("self", "diffModel", "stepTime", "withCostResidual"), \ |
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"Initialize the sympletic Euler integrator.\n\n" \ |
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":param diffModel: differential action model\n" \ |
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":param stepTime: step time (default 1e-3)\n" \ |
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":param withCostResidual: includes the cost residuals and " \ |
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"derivatives (default True).")) \ |
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.def(IntegratedActionModelEulerVisitor<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_INTACTION_DATA_EULER_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionDataEulerTpl<Scalar> Data; \ |
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typedef IntegratedActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef IntegratedActionModelEulerTpl<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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"IntegratedActionDataEuler", "Sympletic Euler integrator data.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create sympletic Euler integrator data.\n\n" \ |
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":param model: sympletic Euler integrator model")) \ |
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.def(IntegratedActionDataEulerVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeIntegratedActionEuler() { |
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CROCODDYL_INTACTION_MODEL_EULER_PYTHON_BINDINGS(double) |
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CROCODDYL_INTACTION_DATA_EULER_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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