| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/residuals/frame-velocity.cpp |
| Date: | 2025-01-30 11:01:55 |
| Exec | Total | Coverage | |
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| Lines: | 33 | 35 | 94.3% |
| Branches: | 26 | 52 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/residuals/frame-velocity.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 12 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeResidualFrameVelocity() { | |
| 18 | 10 | bp::register_ptr_to_python<std::shared_ptr<ResidualModelFrameVelocity> >(); | |
| 19 | |||
| 20 |
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10 | bp::class_<ResidualModelFrameVelocity, bp::bases<ResidualModelAbstract> >( |
| 21 | "ResidualModelFrameVelocity", | ||
| 22 | "This residual function defines r = v - vref, with v and vref as the " | ||
| 23 | "current and reference\n" | ||
| 24 | "frame velocities, respectively.", | ||
| 25 |
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10 | bp::init<std::shared_ptr<StateMultibody>, std::size_t, pinocchio::Motion, |
| 26 | pinocchio::ReferenceFrame, std::size_t>( | ||
| 27 | 20 | bp::args("self", "state", "id", "velocity", "type", "nu"), | |
| 28 | "Initialize the frame velocity residual model.\n\n" | ||
| 29 | ":param state: state of the multibody system\n" | ||
| 30 | ":param residual: residual model\n" | ||
| 31 | ":param id: reference frame id\n" | ||
| 32 | ":param velocity: reference velocity\n" | ||
| 33 | ":param type: reference type of velocity\n" | ||
| 34 | ":param nu: dimension of control vector")) | ||
| 35 |
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10 | .def(bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex, |
| 36 | pinocchio::Motion, pinocchio::ReferenceFrame>( | ||
| 37 |
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20 | bp::args("self", "state", "id", "velocity", "type"), |
| 38 | "Initialize the frame velocity residual model.\n\n" | ||
| 39 | ":param state: state of the multibody system\n" | ||
| 40 | ":param residual: residual model\n" | ||
| 41 | ":param id: reference frame id\n" | ||
| 42 | ":param velocity: reference velocity\n" | ||
| 43 | ":param type: reference type of velocity")) | ||
| 44 | .def<void (ResidualModelFrameVelocity::*)( | ||
| 45 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 46 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 47 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 48 | "calc", &ResidualModelFrameVelocity::calc, | ||
| 49 |
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20 | bp::args("self", "data", "x", "u"), |
| 50 | "Compute the frame velocity residual.\n\n" | ||
| 51 | ":param data: residual data\n" | ||
| 52 | ":param x: state point (dim. state.nx)\n" | ||
| 53 | ":param u: control input (dim. nu)") | ||
| 54 | .def<void (ResidualModelFrameVelocity::*)( | ||
| 55 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 56 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 57 |
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20 | "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x")) |
| 58 | .def<void (ResidualModelFrameVelocity::*)( | ||
| 59 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 60 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 61 |
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20 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 62 | "calcDiff", &ResidualModelFrameVelocity::calcDiff, | ||
| 63 |
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20 | bp::args("self", "data", "x", "u"), |
| 64 | "Compute the Jacobians of the frame velocity residual.\n\n" | ||
| 65 | "It assumes that calc has been run first.\n" | ||
| 66 | ":param data: action data\n" | ||
| 67 | ":param x: state point (dim. state.nx)\n" | ||
| 68 | ":param u: control input (dim. nu)") | ||
| 69 | .def<void (ResidualModelFrameVelocity::*)( | ||
| 70 | const std::shared_ptr<ResidualDataAbstract>&, | ||
| 71 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 72 | "calcDiff", &ResidualModelAbstract::calcDiff, | ||
| 73 |
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20 | bp::args("self", "data", "x")) |
| 74 |
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20 | .def("createData", &ResidualModelFrameVelocity::createData, |
| 75 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 76 |
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20 | bp::args("self", "data"), |
| 77 | "Create the frame velocity residual data.\n\n" | ||
| 78 | "Each residual model has its own data that needs to be allocated. " | ||
| 79 | "This function\n" | ||
| 80 | "returns the allocated data for the frame velocity residual.\n" | ||
| 81 | ":param data: shared data\n" | ||
| 82 | ":return residual data.") | ||
| 83 |
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10 | .add_property("id", &ResidualModelFrameVelocity::get_id, |
| 84 | &ResidualModelFrameVelocity::set_id, "reference frame id") | ||
| 85 |
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10 | .add_property( |
| 86 | "reference", | ||
| 87 |
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10 | bp::make_function(&ResidualModelFrameVelocity::get_reference, |
| 88 | 10 | bp::return_internal_reference<>()), | |
| 89 | &ResidualModelFrameVelocity::set_reference, "reference velocity") | ||
| 90 |
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10 | .add_property("type", &ResidualModelFrameVelocity::get_type, |
| 91 | &ResidualModelFrameVelocity::set_type, | ||
| 92 | "reference type of velocity") | ||
| 93 |
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10 | .def(CopyableVisitor<ResidualModelFrameVelocity>()); |
| 94 | |||
| 95 | 10 | bp::register_ptr_to_python<std::shared_ptr<ResidualDataFrameVelocity> >(); | |
| 96 | |||
| 97 |
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10 | bp::class_<ResidualDataFrameVelocity, bp::bases<ResidualDataAbstract> >( |
| 98 | "ResidualDataFrameVelocity", "Data for frame velocity residual.\n\n", | ||
| 99 |
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10 | bp::init<ResidualModelFrameVelocity*, DataCollectorAbstract*>( |
| 100 | 10 | bp::args("self", "model", "data"), | |
| 101 | "Create frame velocity residual data.\n\n" | ||
| 102 | ":param model: frame Velocity residual model\n" | ||
| 103 | ✗ | ":param data: shared data")[bp::with_custodian_and_ward< | |
| 104 |
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20 | 1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
| 105 |
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10 | .add_property("pinocchio", |
| 106 |
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10 | bp::make_getter(&ResidualDataFrameVelocity::pinocchio, |
| 107 | 10 | bp::return_internal_reference<>()), | |
| 108 | "pinocchio data") | ||
| 109 |
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10 | .def(CopyableVisitor<ResidualDataFrameVelocity>()); |
| 110 | 10 | } | |
| 111 | |||
| 112 | } // namespace python | ||
| 113 | } // namespace crocoddyl | ||
| 114 |