| 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/multibody/actuations/floating-base.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace python { |
| 17 |
|
|
|
| 18 |
|
|
template <typename Model> |
| 19 |
|
|
struct ActuationModelFloatingBaseVisitor |
| 20 |
|
|
: public bp::def_visitor<ActuationModelFloatingBaseVisitor<Model>> { |
| 21 |
|
|
template <class PyClass> |
| 22 |
|
✗ |
void visit(PyClass& cl) const { |
| 23 |
|
✗ |
cl.def("calc", &Model::calc, bp::args("self", "data", "x", "u"), |
| 24 |
|
|
"Compute the floating-base actuation signal and actuation set from " |
| 25 |
|
|
"the joint torque input u.\n\n" |
| 26 |
|
|
"It describes the time-continuos evolution of the floating-base " |
| 27 |
|
|
"actuation model.\n" |
| 28 |
|
|
":param data: floating-base actuation data\n" |
| 29 |
|
|
":param x: state point (dim. state.nx)\n" |
| 30 |
|
|
":param u: joint-torque input (dim. nu)") |
| 31 |
|
✗ |
.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), |
| 32 |
|
|
"Compute the Jacobians of the floating-base actuation model.\n\n" |
| 33 |
|
|
"It computes the partial derivatives of the floating-base " |
| 34 |
|
|
"actuation. It assumes that calc\n" |
| 35 |
|
|
"has been run first. The reason is that the derivatives are " |
| 36 |
|
|
"constant and defined in createData. The derivatives are " |
| 37 |
|
|
"constant, so we don't write again these values.\n" |
| 38 |
|
|
":param data: floating-base actuation data\n" |
| 39 |
|
|
":param x: state point (dim. state.nx)\n" |
| 40 |
|
|
":param u: joint-torque input (dim. nu)") |
| 41 |
|
✗ |
.def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), |
| 42 |
|
|
"Compute the joint-torque commands from the generalized " |
| 43 |
|
|
"torques.\n\n" |
| 44 |
|
|
"It stores the results in data.u.\n" |
| 45 |
|
|
":param data: actuation data\n" |
| 46 |
|
|
":param x: state point (dim. state.nx)\n" |
| 47 |
|
|
":param tau: generalized torques (dim state.nv)") |
| 48 |
|
✗ |
.def("torqueTransform", &Model::torqueTransform, |
| 49 |
|
|
bp::args("self", "data", "x", "tau"), |
| 50 |
|
|
"Compute the torque transform from generalized torques to " |
| 51 |
|
|
"joint-torque inputs.\n\n" |
| 52 |
|
|
"It stores the results in data.Mtau.\n" |
| 53 |
|
|
":param data: actuation data\n" |
| 54 |
|
|
":param x: state point (dim. state.nx)\n" |
| 55 |
|
|
":param tau: generalized torques (dim state.nv)") |
| 56 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 57 |
|
|
"Create the floating-base actuation data.\n\n" |
| 58 |
|
|
"Each actuation model (AM) has its own data that needs to be " |
| 59 |
|
|
"allocated.\n" |
| 60 |
|
|
"This function returns the allocated data for a predefined AM.\n" |
| 61 |
|
|
":return AM data."); |
| 62 |
|
|
} |
| 63 |
|
|
}; |
| 64 |
|
|
|
| 65 |
|
|
#define CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_PYTHON_BINDINGS(Scalar) \ |
| 66 |
|
|
typedef ActuationModelFloatingBaseTpl<Scalar> Model; \ |
| 67 |
|
|
typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ |
| 68 |
|
|
typedef StateMultibodyTpl<Scalar> StateMultibody; \ |
| 69 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 70 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 71 |
|
|
"ActuationModelFloatingBase", \ |
| 72 |
|
|
"Floating-base actuation models.\n\n" \ |
| 73 |
|
|
"It considers the first joint, defined in the Pinocchio model, as the " \ |
| 74 |
|
|
"floating-base joints. Then, this joint (that might have various DoFs) " \ |
| 75 |
|
|
"is unactuated.", \ |
| 76 |
|
|
bp::init<std::shared_ptr<StateMultibody>>( \ |
| 77 |
|
|
bp::args("self", "state"), \ |
| 78 |
|
|
"Initialize the floating-base actuation model.\n\n" \ |
| 79 |
|
|
":param state: state of multibody system")) \ |
| 80 |
|
|
.def(ActuationModelFloatingBaseVisitor<Model>()) \ |
| 81 |
|
|
.def(CastVisitor<Model>()) \ |
| 82 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 83 |
|
|
.def(CopyableVisitor<Model>()); |
| 84 |
|
|
|
| 85 |
|
✗ |
void exposeActuationFloatingBase() { |
| 86 |
|
✗ |
CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_PYTHON_BINDINGS(float) |
| 87 |
|
|
} |
| 88 |
|
|
|
| 89 |
|
|
} // namespace python |
| 90 |
|
|
} // namespace crocoddyl |
| 91 |
|
|
|