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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/residuals/frame-placement.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 Model> |
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struct ResidualModelFramePlacementVisitor |
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: public bp::def_visitor<ResidualModelFramePlacementVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::StateMultibody State; |
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typedef typename Model::SE3 SE3; |
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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(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, SE3>( |
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bp::args("self", "state", "id", "pref"), |
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"Initialize the frame placement residual model.\n\n" |
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"The default nu value is obtained from state.nv.\n" |
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":param state: state of the multibody system\n" |
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":param id: reference frame id\n" |
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":param pref: reference frame placement")) |
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.def( |
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"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 frame placement residual.\n\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calc", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calc), |
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bp::args("self", "data", "x")) |
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.def( |
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"calcDiff", |
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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::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the frame placement residual.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calcDiff", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &ResidualModelFramePlacement::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the frame placement residual data.\n\n" |
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"Each residual model has its own data that needs to be allocated. " |
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"This function returns the allocated data for the frame placement " |
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"residual.\n" |
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":param data: shared data\n" |
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":return residual data.") |
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.add_property("id", &Model::get_id, &Model::set_id, |
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"reference frame id") |
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.add_property("reference", |
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bp::make_function( |
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&Model::get_reference, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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&Model::set_reference, "reference frame placement"); |
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} |
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}; |
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template <typename Data> |
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struct ResidualDataFramePlacementVisitor |
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: public bp::def_visitor<ResidualDataFramePlacementVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"pinocchio", |
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bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
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"pinocchio data") |
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.add_property( |
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"rMf", |
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bp::make_getter(&Data::rMf, |
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bp::return_value_policy<bp::return_by_value>()), |
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"error frame placement of the frame") |
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.add_property( |
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"rJf", |
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bp::make_getter(&Data::rJf, bp::return_internal_reference<>()), |
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"error Jacobian of the frame") |
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.add_property( |
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"fJf", |
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bp::make_getter(&Data::fJf, bp::return_internal_reference<>()), |
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"local Jacobian of the frame"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_FRAME_PLACEMENT_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelFramePlacementTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename Model::StateMultibody State; \ |
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typedef typename Model::SE3 SE3; \ |
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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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"ResidualModelFramePlacement", \ |
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"This residual function defines the tracking of theframe placement " \ |
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"residual as r = p - pref, with p and pref as the current and " \ |
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"reference frame placements, respectively.", \ |
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bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, SE3, \ |
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std::size_t>( \ |
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bp::args("self", "state", "id", "pref", "nu"), \ |
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"Initialize the frame placement residual model.\n\n" \ |
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":param state: state of the multibody system\n" \ |
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":param id: reference frame id\n" \ |
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":param pref: reference frame placement\n" \ |
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":param nu: dimension of control vector")) \ |
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.def(ResidualModelFramePlacementVisitor<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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#define CROCODDYL_RESIDUAL_DATA_FRAME_PLACEMENT_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualDataFramePlacementTpl<Scalar> Data; \ |
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typedef ResidualDataAbstractTpl<Scalar> DataBase; \ |
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typedef ResidualModelFramePlacementTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"ResidualDataFramePlacement", "Data for frame placement residual.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create frame placement residual data.\n\n" \ |
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":param model: frame placement residual model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ResidualDataFramePlacementVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeResidualFramePlacement() { |
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CROCODDYL_RESIDUAL_MODEL_FRAME_PLACEMENT_PYTHON_BINDINGS(double) |
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CROCODDYL_RESIDUAL_DATA_FRAME_PLACEMENT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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