| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, 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/force-base.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/multibody/contact-base.hpp" | ||
| 13 | #include "python/crocoddyl/multibody/impulse-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Data> | ||
| 20 | struct ForceDataAbstractVisitor | ||
| 21 | : public bp::def_visitor<ForceDataAbstractVisitor<Data>> { | ||
| 22 | typedef typename Data::Scalar Scalar; | ||
| 23 | typedef ImpulseModelAbstractTpl<Scalar> ImpulseModel; | ||
| 24 | typedef pinocchio::DataTpl<Scalar> PinocchioData; | ||
| 25 | template <class PyClass> | ||
| 26 | ✗ | void visit(PyClass& cl) const { | |
| 27 | ✗ | cl.def( | |
| 28 | ✗ | bp::init<ImpulseModel*, PinocchioData*>()[bp::with_custodian_and_ward< | |
| 29 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) | ||
| 30 | ✗ | .add_property("pinocchio", | |
| 31 | ✗ | bp::make_getter(&Data::pinocchio, | |
| 32 | ✗ | bp::return_internal_reference<>()), | |
| 33 | "pinocchio data") | ||
| 34 | ✗ | .def_readwrite("frame", &Data::frame, "frame id of the contact") | |
| 35 | ✗ | .def_readwrite("type", &Data::type, "type of contact") | |
| 36 | ✗ | .add_property( | |
| 37 | "jMf", | ||
| 38 | ✗ | bp::make_getter(&Data::jMf, | |
| 39 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 40 | ✗ | bp::make_setter(&Data::jMf), | |
| 41 | "local frame placement of the contact frame") | ||
| 42 | ✗ | .add_property( | |
| 43 | ✗ | "Jc", bp::make_getter(&Data::Jc, bp::return_internal_reference<>()), | |
| 44 | ✗ | bp::make_setter(&Data::Jc), "contact Jacobian") | |
| 45 | ✗ | .def_readwrite( | |
| 46 | ✗ | "f", &Data::f, | |
| 47 | "contact force expressed in the coordinate defined by type") | ||
| 48 | ✗ | .def_readwrite( | |
| 49 | ✗ | "fext", &Data::fext, | |
| 50 | "external spatial force at the parent joint level. Note " | ||
| 51 | "that we could compute the force at the " | ||
| 52 | "contact frame by using jMf (i.e. data.jMf.actInv(data.f)") | ||
| 53 | ✗ | .add_property( | |
| 54 | "df_dx", | ||
| 55 | ✗ | bp::make_getter(&Data::df_dx, bp::return_internal_reference<>()), | |
| 56 | ✗ | bp::make_setter(&Data::df_dx), | |
| 57 | "Jacobian of the contact forces expressed in the " | ||
| 58 | "coordinate defined by type") | ||
| 59 | ✗ | .add_property( | |
| 60 | "df_du", | ||
| 61 | ✗ | bp::make_getter(&Data::df_du, bp::return_internal_reference<>()), | |
| 62 | ✗ | bp::make_setter(&Data::df_du), | |
| 63 | "Jacobian of the contact forces expressed in the " | ||
| 64 | "coordinate defined by type"); | ||
| 65 | ✗ | } | |
| 66 | }; | ||
| 67 | |||
| 68 | #define CROCODDYL_FORCE_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 69 | typedef ForceDataAbstractTpl<Scalar> Data; \ | ||
| 70 | typedef ContactModelAbstractTpl<Scalar> ContactModel; \ | ||
| 71 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 72 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 73 | bp::class_<Data>( \ | ||
| 74 | "ForceDataAbstract", "Abstract class for force datas.\n\n", \ | ||
| 75 | bp::init<ContactModel*, PinocchioData*>( \ | ||
| 76 | bp::args("self", "model", "data"), \ | ||
| 77 | "Create common data shared between force models.\n\n" \ | ||
| 78 | ":param model: force/impulse model\n" \ | ||
| 79 | ":param data: Pinocchio data")[bp::with_custodian_and_ward< \ | ||
| 80 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 81 | .def(ForceDataAbstractVisitor<Data>()) \ | ||
| 82 | .def(CopyableVisitor<Data>()); | ||
| 83 | |||
| 84 | ✗ | void exposeForceAbstract() { | |
| 85 | ✗ | CROCODDYL_FORCE_DATA_ABSTRACT_PYTHON_BINDINGS(double) | |
| 86 | ✗ | } | |
| 87 | |||
| 88 | } // namespace python | ||
| 89 | } // namespace crocoddyl | ||
| 90 |