| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/actuations/floating-base.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 17 | 17 | 100.0% |
| Branches: | 13 | 26 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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 | #include "crocoddyl/multibody/actuations/floating-base.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 13 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | 10 | void exposeActuationFloatingBase() { | |
| 19 | bp::register_ptr_to_python< | ||
| 20 | 10 | boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> >(); | |
| 21 | |||
| 22 |
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10 | bp::class_<ActuationModelFloatingBase, bp::bases<ActuationModelAbstract> >( |
| 23 | "ActuationModelFloatingBase", | ||
| 24 | "Floating-base actuation models.\n\n" | ||
| 25 | "It considers the first joint, defined in the Pinocchio model, as the " | ||
| 26 | "floating-base joints.\n" | ||
| 27 | "Then, this joint (that might have various DoFs) is unactuated.", | ||
| 28 |
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10 | bp::init<boost::shared_ptr<StateMultibody> >( |
| 29 | 20 | bp::args("self", "state"), | |
| 30 | "Initialize the floating-base actuation model.\n\n" | ||
| 31 | ":param state: state of multibody system")) | ||
| 32 |
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10 | .def("calc", &ActuationModelFloatingBase::calc, |
| 33 |
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20 | bp::args("self", "data", "x", "u"), |
| 34 | "Compute the floating-base actuation signal and actuation set from " | ||
| 35 | "the joint torque input u.\n\n" | ||
| 36 | "It describes the time-continuos evolution of the floating-base " | ||
| 37 | "actuation model.\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 |
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10 | .def("calcDiff", &ActuationModelFloatingBase::calcDiff, |
| 42 |
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20 | bp::args("self", "data", "x", "u"), |
| 43 | "Compute the Jacobians of the floating-base actuation model.\n\n" | ||
| 44 | "It computes the partial derivatives of the floating-base " | ||
| 45 | "actuation. It assumes that calc\n" | ||
| 46 | "has been run first. The reason is that the derivatives are " | ||
| 47 | "constant and\n" | ||
| 48 | "defined in createData. The derivatives are constant, so we don't " | ||
| 49 | "write again these values.\n" | ||
| 50 | ":param data: floating-base actuation data\n" | ||
| 51 | ":param x: state point (dim. state.nx)\n" | ||
| 52 | ":param u: joint-torque input (dim. nu)") | ||
| 53 |
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10 | .def("commands", &ActuationModelFloatingBase::commands, |
| 54 |
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20 | bp::args("self", "data", "x", "tau"), |
| 55 | "Compute the joint-torque commands from the generalized torques.\n\n" | ||
| 56 | "It stores the results in data.u.\n" | ||
| 57 | ":param data: actuation data\n" | ||
| 58 | ":param x: state point (dim. state.nx)\n" | ||
| 59 | ":param tau: generalized torques (dim state.nv)") | ||
| 60 |
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10 | .def("torqueTransform", &ActuationModelFloatingBase::torqueTransform, |
| 61 |
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20 | bp::args("self", "data", "x", "tau"), |
| 62 | "Compute the torque transform from generalized torques to " | ||
| 63 | "joint-torque inputs.\n\n" | ||
| 64 | "It stores the results in data.Mtau.\n" | ||
| 65 | ":param data: actuation data\n" | ||
| 66 | ":param x: state point (dim. state.nx)\n" | ||
| 67 | ":param tau: generalized torques (dim state.nv)") | ||
| 68 |
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10 | .def("createData", &ActuationModelFloatingBase::createData, |
| 69 |
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20 | bp::args("self"), |
| 70 | "Create the floating-base actuation data.\n\n" | ||
| 71 | "Each actuation model (AM) has its own data that needs to be " | ||
| 72 | "allocated.\n" | ||
| 73 | "This function returns the allocated data for a predefined AM.\n" | ||
| 74 | ":return AM data.") | ||
| 75 |
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10 | .def(CopyableVisitor<ActuationModelFloatingBase>()); |
| 76 | 10 | } | |
| 77 | |||
| 78 | } // namespace python | ||
| 79 | } // namespace crocoddyl | ||
| 80 |