| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2024-2025, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | // Auto-generated file for double | ||
| 10 | #include "crocoddyl/multibody/actuations/floating-base-thrusters.hpp" | ||
| 11 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 12 | #include "python/crocoddyl/utils/vector-converter.hpp" | ||
| 13 | |||
| 14 | #define SCALAR_float64 | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct ThrustersVisitor : public bp::def_visitor<ThrustersVisitor<Model>> { | ||
| 21 | typedef typename Model::Scalar Scalar; | ||
| 22 | template <class PyClass> | ||
| 23 | ✗ | void visit(PyClass& cl) const { | |
| 24 | ✗ | cl.def(bp::init<Scalar, bp::optional<ThrusterType, Scalar, Scalar>>( | |
| 25 | bp::args("self", "ctorque", "type", "min_thrust", "max_thrust"), | ||
| 26 | "Initialize the thruster in a give pose from the root joint.\n\n" | ||
| 27 | ":param ctorque: coefficient of generated torque per thrust\n" | ||
| 28 | ":param type: type of thruster (clockwise or counterclockwise, " | ||
| 29 | "default clockwise)\n" | ||
| 30 | ":param min_thrust: minimum thrust (default 0.)\n" | ||
| 31 | ":param max_thrust: maximum thrust (default np.inf)")) | ||
| 32 | ✗ | .def_readwrite("pose", &Model::pose, | |
| 33 | "thruster pose (traslation, rotation)") | ||
| 34 | ✗ | .def_readwrite("ctorque", &Model::ctorque, | |
| 35 | "coefficient of generated torque per thrust") | ||
| 36 | ✗ | .def_readwrite("type", &Model::type, | |
| 37 | "type of thruster (clockwise or counterclockwise)") | ||
| 38 | ✗ | .def_readwrite("min_thrust", &Model::min_thrust, "minimum thrust") | |
| 39 | ✗ | .def_readwrite("max_thrust", &Model::min_thrust, "maximum thrust"); | |
| 40 | ✗ | } | |
| 41 | }; | ||
| 42 | |||
| 43 | template <typename Model> | ||
| 44 | struct ActuationModelFloatingBaseThrustersVisitor | ||
| 45 | : public bp::def_visitor< | ||
| 46 | ActuationModelFloatingBaseThrustersVisitor<Model>> { | ||
| 47 | typedef typename Model::Scalar Scalar; | ||
| 48 | typedef typename Model::Data Data; | ||
| 49 | typedef typename Model::VectorXs VectorXs; | ||
| 50 | template <class PyClass> | ||
| 51 | ✗ | void visit(PyClass& cl) const { | |
| 52 | ✗ | cl.def("calc", | |
| 53 | static_cast<void (Model::*)( | ||
| 54 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 55 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 56 | bp::args("self", "data", "x", "u"), | ||
| 57 | "Compute the actuation signal and actuation set from the thrust " | ||
| 58 | "forces and joint torque inputs u.\n\n" | ||
| 59 | ":param data: floating base thrusters actuation data\n" | ||
| 60 | ":param x: state point (dim. state.nx)\n" | ||
| 61 | ":param u: joint torque input (dim. nu)") | ||
| 62 | ✗ | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), | |
| 63 | "Compute the derivatives of the actuation model.\n\n" | ||
| 64 | "It computes the partial derivatives of the thruster actuation. " | ||
| 65 | "It assumes that calc has been run first. The reason is that the " | ||
| 66 | "derivatives are constant and defined in createData. The Hessian " | ||
| 67 | "is constant, so we don't write again this value.\n" | ||
| 68 | ":param data: floating base thrusters actuation data\n" | ||
| 69 | ":param x: state point (dim. state.nx)\n" | ||
| 70 | ":param u: joint torque input (dim. nu)") | ||
| 71 | ✗ | .def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), | |
| 72 | "Compute the thrust and joint torque commands from the " | ||
| 73 | "generalized torques.\n\n" | ||
| 74 | "It stores the results in data.u.\n" | ||
| 75 | ":param data: actuation data\n" | ||
| 76 | ":param x: state point (dim. state.nx)\n" | ||
| 77 | ":param tau: generalized torques (dim state.nv)") | ||
| 78 | ✗ | .def("torqueTransform", &Model::torqueTransform, | |
| 79 | bp::args("self", "data", "x", "tau"), | ||
| 80 | "Compute the torque transform from generalized torques to thrust " | ||
| 81 | "and joint torque inputs.\n\n" | ||
| 82 | "It stores the results in data.Mtau.\n" | ||
| 83 | ":param data: floating base thrusters actuation data\n" | ||
| 84 | ":param x: state point (dim. state.nx)\n" | ||
| 85 | ":param tau: generalized torques (dim state.nv)") | ||
| 86 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 87 | "Create the floating base thrusters actuation data.") | ||
| 88 | ✗ | .add_property( | |
| 89 | "thrusters", | ||
| 90 | bp::make_function(&Model::get_thrusters, | ||
| 91 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 92 | bp::make_function(&Model::set_thrusters), "vector of thrusters") | ||
| 93 | ✗ | .add_property("nthrusters", bp::make_function(&Model::get_nthrusters), | |
| 94 | "number of thrusters") | ||
| 95 | ✗ | .add_property( | |
| 96 | "Wthrust", | ||
| 97 | bp::make_function(&Model::get_Wthrust, | ||
| 98 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 99 | "matrix mapping from thrusts to thruster wrenches") | ||
| 100 | ✗ | .add_property( | |
| 101 | "S", | ||
| 102 | bp::make_function(&Model::get_S, | ||
| 103 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 104 | "selection matrix for under-actuation part"); | ||
| 105 | ✗ | } | |
| 106 | }; | ||
| 107 | |||
| 108 | #define CROCODDYL_THRUSTER_BINDINGS(Scalar) \ | ||
| 109 | typedef ThrusterTpl<Scalar> Thurster; \ | ||
| 110 | typedef typename pinocchio::SE3Tpl<Scalar> SE3; \ | ||
| 111 | bp::register_ptr_to_python<std::shared_ptr<Thurster>>(); \ | ||
| 112 | StdVectorPythonVisitor<std::vector<Thurster>, true>::expose("StdVec_Thruster"); \ | ||
| 113 | bp::class_<Thurster>( \ | ||
| 114 | "Thruster", "Model for thrusters", \ | ||
| 115 | bp::init<SE3, Scalar, bp::optional<ThrusterType, Scalar, Scalar>>( \ | ||
| 116 | bp::args("self", "M", "ctorque", "type", "min_thrust", \ | ||
| 117 | "max_thrust"), \ | ||
| 118 | "Initialize the thruster in a give pose from the root joint.\n\n" \ | ||
| 119 | ":param M: pose from root joint\n" \ | ||
| 120 | ":param ctorque: coefficient of generated torque per thrust\n" \ | ||
| 121 | ":param type: type of thruster (clockwise or counterclockwise, " \ | ||
| 122 | "default clockwise)\n" \ | ||
| 123 | ":param min_thrust: minimum thrust (default 0.)\n" \ | ||
| 124 | ":param max_thrust: maximum thrust (default np.inf)")) \ | ||
| 125 | .def(ThrustersVisitor<Thurster>()) \ | ||
| 126 | .def(CastVisitor<Thurster>()) \ | ||
| 127 | .def(PrintableVisitor<Thurster>()) \ | ||
| 128 | .def(CopyableVisitor<Thurster>()); | ||
| 129 | |||
| 130 | #define CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_THRUSTERS_PYTHON_BINDINGS( \ | ||
| 131 | Scalar) \ | ||
| 132 | typedef ActuationModelFloatingBaseThrustersTpl<Scalar> Model; \ | ||
| 133 | typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 134 | typedef ThrusterTpl<Scalar> Thruster; \ | ||
| 135 | typedef StateMultibodyTpl<Scalar> StateMultibody; \ | ||
| 136 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 137 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 138 | "ActuationModelFloatingBaseThrusters", \ | ||
| 139 | "Actuation models for floating base systems actuated with thrusters " \ | ||
| 140 | "(e.g. aerial manipulators).", \ | ||
| 141 | bp::init<std::shared_ptr<StateMultibody>, std::vector<Thruster>>( \ | ||
| 142 | bp::args("self", "state", "thrusters"), \ | ||
| 143 | "Initialize the floating base actuation model equipped with " \ | ||
| 144 | "thrusters.\n\n" \ | ||
| 145 | ":param state: state of multibody system\n" \ | ||
| 146 | ":param thrusters: vector of thrusters")) \ | ||
| 147 | .def(ActuationModelFloatingBaseThrustersVisitor<Model>()) \ | ||
| 148 | .def(CastVisitor<Model>()) \ | ||
| 149 | .def(PrintableVisitor<Model>()) \ | ||
| 150 | .def(CopyableVisitor<Model>()); | ||
| 151 | |||
| 152 | ✗ | void exposeActuationFloatingBaseThruster() { | |
| 153 | #ifdef SCALAR_float64 | ||
| 154 | ✗ | bp::enum_<ThrusterType>("ThrusterType") | |
| 155 | ✗ | .value("CW", CW) | |
| 156 | ✗ | .value("CCW", CCW) | |
| 157 | ✗ | .export_values(); | |
| 158 | #endif | ||
| 159 | |||
| 160 | ✗ | CROCODDYL_THRUSTER_BINDINGS(double) | |
| 161 | ✗ | CROCODDYL_ACTUATION_MODEL_FLOATINGBASE_THRUSTERS_PYTHON_BINDINGS(double) | |
| 162 | ✗ | } | |
| 163 | |||
| 164 | } // namespace python | ||
| 165 | } // namespace crocoddyl | ||
| 166 |