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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2024-2025, 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/multibody/actuations/floating-base-thrusters.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "python/crocoddyl/utils/vector-converter.hpp" |
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#define SCALAR_float64 |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ThrustersVisitor : public bp::def_visitor<ThrustersVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<Scalar, bp::optional<ThrusterType, Scalar, Scalar>>( |
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bp::args("self", "ctorque", "type", "min_thrust", "max_thrust"), |
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"Initialize the thruster in a give pose from the root joint.\n\n" |
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":param ctorque: coefficient of generated torque per thrust\n" |
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":param type: type of thruster (clockwise or counterclockwise, " |
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"default clockwise)\n" |
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":param min_thrust: minimum thrust (default 0.)\n" |
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":param max_thrust: maximum thrust (default np.inf)")) |
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.def_readwrite("pose", &Model::pose, |
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"thruster pose (traslation, rotation)") |
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.def_readwrite("ctorque", &Model::ctorque, |
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"coefficient of generated torque per thrust") |
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.def_readwrite("type", &Model::type, |
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"type of thruster (clockwise or counterclockwise)") |
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.def_readwrite("min_thrust", &Model::min_thrust, "minimum thrust") |
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.def_readwrite("max_thrust", &Model::min_thrust, "maximum thrust"); |
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} |
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}; |
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template <typename Model> |
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struct ActuationModelFloatingBaseThrustersVisitor |
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: public bp::def_visitor< |
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ActuationModelFloatingBaseThrustersVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::Data Data; |
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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("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 actuation signal and actuation set from the thrust " |
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"forces and joint torque inputs u.\n\n" |
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":param data: floating base thrusters actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint torque input (dim. nu)") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the actuation model.\n\n" |
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"It computes the partial derivatives of the thruster actuation. " |
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"It assumes that calc has been run first. The reason is that the " |
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"derivatives are constant and defined in createData. The Hessian " |
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"is constant, so we don't write again this value.\n" |
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":param data: floating base thrusters actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint torque input (dim. nu)") |
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.def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), |
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"Compute the thrust and joint torque commands from the " |
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"generalized torques.\n\n" |
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"It stores the results in data.u.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param tau: generalized torques (dim state.nv)") |
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.def("torqueTransform", &Model::torqueTransform, |
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bp::args("self", "data", "x", "tau"), |
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"Compute the torque transform from generalized torques to thrust " |
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"and joint torque inputs.\n\n" |
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"It stores the results in data.Mtau.\n" |
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":param data: floating base thrusters actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param tau: generalized torques (dim state.nv)") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the floating base thrusters actuation data.") |
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.add_property( |
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"thrusters", |
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bp::make_function(&Model::get_thrusters, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Model::set_thrusters), "vector of thrusters") |
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.add_property("nthrusters", bp::make_function(&Model::get_nthrusters), |
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"number of thrusters") |
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.add_property( |
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"Wthrust", |
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bp::make_function(&Model::get_Wthrust, |
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bp::return_value_policy<bp::return_by_value>()), |
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"matrix mapping from thrusts to thruster wrenches") |
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.add_property( |
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"S", |
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bp::make_function(&Model::get_S, |
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bp::return_value_policy<bp::return_by_value>()), |
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"selection matrix for under-actuation part"); |
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} |
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}; |
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#define CROCODDYL_THRUSTER_BINDINGS(Scalar) \ |
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typedef ThrusterTpl<Scalar> Thurster; \ |
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typedef typename pinocchio::SE3Tpl<Scalar> SE3; \ |
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bp::register_ptr_to_python<std::shared_ptr<Thurster>>(); \ |
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StdVectorPythonVisitor<std::vector<Thurster>, true>::expose("StdVec_Thruster"); \ |
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bp::class_<Thurster>( \ |
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"Thruster", "Model for thrusters", \ |
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bp::init<SE3, Scalar, bp::optional<ThrusterType, Scalar, Scalar>>( \ |
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bp::args("self", "M", "ctorque", "type", "min_thrust", \ |
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"max_thrust"), \ |
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"Initialize the thruster in a give pose from the root joint.\n\n" \ |
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":param M: pose from root joint\n" \ |
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":param ctorque: coefficient of generated torque per thrust\n" \ |
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":param type: type of thruster (clockwise or counterclockwise, " \ |
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"default clockwise)\n" \ |
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":param min_thrust: minimum thrust (default 0.)\n" \ |
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":param max_thrust: maximum thrust (default np.inf)")) \ |
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.def(ThrustersVisitor<Thurster>()) \ |
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.def(CastVisitor<Thurster>()) \ |
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.def(PrintableVisitor<Thurster>()) \ |
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.def(CopyableVisitor<Thurster>()); |
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#define CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_THRUSTERS_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ActuationModelFloatingBaseThrustersTpl<Scalar> Model; \ |
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typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ |
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typedef ThrusterTpl<Scalar> Thruster; \ |
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typedef StateMultibodyTpl<Scalar> StateMultibody; \ |
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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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"ActuationModelFloatingBaseThrusters", \ |
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"Actuation models for floating base systems actuated with thrusters " \ |
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"(e.g. aerial manipulators).", \ |
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bp::init<std::shared_ptr<StateMultibody>, std::vector<Thruster>>( \ |
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bp::args("self", "state", "thrusters"), \ |
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"Initialize the floating base actuation model equipped with " \ |
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"thrusters.\n\n" \ |
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":param state: state of multibody system\n" \ |
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":param thrusters: vector of thrusters")) \ |
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.def(ActuationModelFloatingBaseThrustersVisitor<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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void exposeActuationFloatingBaseThruster() { |
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#ifdef SCALAR_float64 |
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bp::enum_<ThrusterType>("ThrusterType") |
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.value("CW", CW) |
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.value("CCW", CCW) |
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.export_values(); |
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#endif |
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CROCODDYL_THRUSTER_BINDINGS(double) |
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CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_THRUSTERS_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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