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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, 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/force-base.hpp" |
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#include "python/crocoddyl/multibody/contact-base.hpp" |
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#include "python/crocoddyl/multibody/impulse-base.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Data> |
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struct ForceDataAbstractVisitor |
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: public bp::def_visitor<ForceDataAbstractVisitor<Data>> { |
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typedef typename Data::Scalar Scalar; |
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typedef ImpulseModelAbstractTpl<Scalar> ImpulseModel; |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def( |
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bp::init<ImpulseModel*, PinocchioData*>()[bp::with_custodian_and_ward< |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) |
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.add_property("pinocchio", |
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bp::make_getter(&Data::pinocchio, |
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bp::return_internal_reference<>()), |
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"pinocchio data") |
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.def_readwrite("frame", &Data::frame, "frame id of the contact") |
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.def_readwrite("type", &Data::type, "type of contact") |
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.add_property( |
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"jMf", |
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bp::make_getter(&Data::jMf, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::jMf), |
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"local frame placement of the contact frame") |
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.add_property( |
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"Jc", bp::make_getter(&Data::Jc, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Jc), "contact Jacobian") |
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.def_readwrite( |
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"f", &Data::f, |
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"contact force expressed in the coordinate defined by type") |
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.def_readwrite( |
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"fext", &Data::fext, |
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"external spatial force at the parent joint level. Note " |
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"that we could compute the force at the " |
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"contact frame by using jMf (i.e. data.jMf.actInv(data.f)") |
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.add_property( |
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"df_dx", |
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bp::make_getter(&Data::df_dx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::df_dx), |
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"Jacobian of the contact forces expressed in the " |
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"coordinate defined by type") |
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.add_property( |
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"df_du", |
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bp::make_getter(&Data::df_du, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::df_du), |
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"Jacobian of the contact forces expressed in the " |
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"coordinate defined by type"); |
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} |
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}; |
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#define CROCODDYL_FORCE_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ForceDataAbstractTpl<Scalar> Data; \ |
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typedef ContactModelAbstractTpl<Scalar> ContactModel; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"ForceDataAbstract", "Abstract class for force datas.\n\n", \ |
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bp::init<ContactModel*, PinocchioData*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between force models.\n\n" \ |
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":param model: force/impulse model\n" \ |
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":param data: Pinocchio data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ForceDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeForceAbstract() { |
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CROCODDYL_FORCE_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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