| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | // Auto-generated file for float | ||
| 11 | #include "crocoddyl/multibody/actions/free-fwddyn.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct DifferentialActionModelFreeFwdDynamicsVisitor | ||
| 21 | : public bp::def_visitor< | ||
| 22 | DifferentialActionModelFreeFwdDynamicsVisitor<Model>> { | ||
| 23 | typedef typename Model::DifferentialActionDataAbstract Data; | ||
| 24 | typedef typename Model::VectorXs VectorXs; | ||
| 25 | template <class PyClass> | ||
| 26 | ✗ | void visit(PyClass& cl) const { | |
| 27 | ✗ | cl.def("calc", | |
| 28 | static_cast<void (Model::*)( | ||
| 29 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 30 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 31 | bp::args("self", "data", "x", "u"), | ||
| 32 | "Compute the next state and cost value.\n\n" | ||
| 33 | "It describes the time-continuous evolution of the multibody system " | ||
| 34 | "without any contact. Additionally it computes the cost value " | ||
| 35 | "associated to this state and control pair.\n" | ||
| 36 | ":param data: free forward-dynamics action data\n" | ||
| 37 | ":param x: time-continuous state vector\n" | ||
| 38 | ":param u: time-continuous control input") | ||
| 39 | ✗ | .def("calc", | |
| 40 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 41 | const Eigen::Ref<const VectorXs>&)>( | ||
| 42 | &Model::calc), | ||
| 43 | bp::args("self", "data", "x")) | ||
| 44 | ✗ | .def( | |
| 45 | "calcDiff", | ||
| 46 | static_cast<void (Model::*)( | ||
| 47 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 48 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 49 | bp::args("self", "data", "x", "u"), | ||
| 50 | "Compute the derivatives of the differential multibody system " | ||
| 51 | "(free of contact) and its cost functions.\n\n" | ||
| 52 | "It computes the partial derivatives of the differential multibody " | ||
| 53 | "system and the cost function. It assumes that calc has been run " | ||
| 54 | "first. This function builds a quadratic approximation of the " | ||
| 55 | "action model (i.e. dynamical system and cost function).\n" | ||
| 56 | ":param data: free forward-dynamics action data\n" | ||
| 57 | ":param x: time-continuous state vector\n" | ||
| 58 | ":param u: time-continuous control input\n") | ||
| 59 | ✗ | .def("calcDiff", | |
| 60 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 61 | const Eigen::Ref<const VectorXs>&)>( | ||
| 62 | &Model::calcDiff), | ||
| 63 | bp::args("self", "data", "x")) | ||
| 64 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 65 | "Create the free forward dynamics differential action data.") | ||
| 66 | ✗ | .add_property("pinocchio", | |
| 67 | bp::make_function(&Model::get_pinocchio, | ||
| 68 | ✗ | bp::return_internal_reference<>()), | |
| 69 | "multibody model (i.e. pinocchio model)") | ||
| 70 | ✗ | .add_property( | |
| 71 | "actuation", | ||
| 72 | bp::make_function(&Model::get_actuation, | ||
| 73 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 74 | "actuation model") | ||
| 75 | ✗ | .add_property( | |
| 76 | "costs", | ||
| 77 | bp::make_function(&Model::get_costs, | ||
| 78 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 79 | "total cost model") | ||
| 80 | ✗ | .add_property( | |
| 81 | "constraints", | ||
| 82 | bp::make_function(&Model::get_constraints, | ||
| 83 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 84 | "constraint model manager") | ||
| 85 | ✗ | .add_property("armature", | |
| 86 | bp::make_function(&Model::get_armature, | ||
| 87 | ✗ | bp::return_internal_reference<>()), | |
| 88 | bp::make_function(&Model::set_armature), | ||
| 89 | "set an armature mechanism in the joints"); | ||
| 90 | ✗ | } | |
| 91 | }; | ||
| 92 | |||
| 93 | template <typename Data> | ||
| 94 | struct DifferentialActionDataFreeFwdDynamicsVisitor | ||
| 95 | : public bp::def_visitor< | ||
| 96 | DifferentialActionDataFreeFwdDynamicsVisitor<Data>> { | ||
| 97 | template <class PyClass> | ||
| 98 | ✗ | void visit(PyClass& cl) const { | |
| 99 | ✗ | cl.add_property( | |
| 100 | "pinocchio", | ||
| 101 | ✗ | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 102 | "pinocchio data") | ||
| 103 | ✗ | .add_property("multibody", | |
| 104 | ✗ | bp::make_getter(&Data::multibody, | |
| 105 | ✗ | bp::return_internal_reference<>()), | |
| 106 | "multibody data") | ||
| 107 | ✗ | .add_property( | |
| 108 | "costs", | ||
| 109 | ✗ | bp::make_getter(&Data::costs, | |
| 110 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 111 | "total cost data") | ||
| 112 | ✗ | .add_property( | |
| 113 | "constraints", | ||
| 114 | ✗ | bp::make_getter(&Data::constraints, | |
| 115 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 116 | "constraint data") | ||
| 117 | ✗ | .add_property( | |
| 118 | "Minv", | ||
| 119 | ✗ | bp::make_getter(&Data::Minv, bp::return_internal_reference<>()), | |
| 120 | "inverse of the joint-space inertia matrix") | ||
| 121 | ✗ | .add_property( | |
| 122 | "u_drift", | ||
| 123 | ✗ | bp::make_getter(&Data::u_drift, bp::return_internal_reference<>()), | |
| 124 | "force-bias vector that accounts for control, Coriolis and " | ||
| 125 | "gravitational effects"); | ||
| 126 | ✗ | } | |
| 127 | }; | ||
| 128 | |||
| 129 | #define CROCODDYL_ACTION_MODEL_FREE_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 130 | typedef DifferentialActionModelFreeFwdDynamicsTpl<Scalar> Model; \ | ||
| 131 | typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 132 | typedef typename Model::StateMultibody State; \ | ||
| 133 | typedef typename Model::ActuationModelAbstract Actuation; \ | ||
| 134 | typedef typename Model::CostModelSum Costs; \ | ||
| 135 | typedef typename Model::ConstraintModelManager Constraints; \ | ||
| 136 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 137 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 138 | "DifferentialActionModelFreeFwdDynamics", \ | ||
| 139 | "Differential action model for free forward dynamics in multibody " \ | ||
| 140 | "systems.\n\n" \ | ||
| 141 | "This class implements a the dynamics using Articulate Body Algorithm " \ | ||
| 142 | "(ABA), or a custom implementation in case of system with armatures. " \ | ||
| 143 | "If you want to include the armature, you need to use set_armature(). " \ | ||
| 144 | "On the other hand, the stack of cost functions are implemented in " \ | ||
| 145 | "CostModelSum().", \ | ||
| 146 | bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ | ||
| 147 | std::shared_ptr<Costs>, \ | ||
| 148 | bp::optional<std::shared_ptr<Constraints>>>( \ | ||
| 149 | bp::args("self", "state", "actuation", "costs", "constraints"), \ | ||
| 150 | "Initialize the free forward-dynamics action model.\n\n" \ | ||
| 151 | ":param state: multibody state\n" \ | ||
| 152 | ":param actuation: abstract actuation model\n" \ | ||
| 153 | ":param costs: stack of cost functions\n" \ | ||
| 154 | ":param constraints: stack of constraint functions")) \ | ||
| 155 | .def(DifferentialActionModelFreeFwdDynamicsVisitor<Model>()) \ | ||
| 156 | .def(CastVisitor<Model>()) \ | ||
| 157 | .def(PrintableVisitor<Model>()) \ | ||
| 158 | .def(CopyableVisitor<Model>()); | ||
| 159 | |||
| 160 | #define CROCODDYL_ACTION_DATA_FREE_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 161 | typedef DifferentialActionDataFreeFwdDynamicsTpl<Scalar> Data; \ | ||
| 162 | typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 163 | typedef DifferentialActionModelFreeFwdDynamicsTpl<Scalar> Model; \ | ||
| 164 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 165 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 166 | "DifferentialActionDataFreeFwdDynamics", \ | ||
| 167 | "Action data for the free forward dynamics system.", \ | ||
| 168 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 169 | "Create free forward-dynamics action data.\n\n" \ | ||
| 170 | ":param model: free forward-dynamics action model")) \ | ||
| 171 | .def(DifferentialActionDataFreeFwdDynamicsVisitor<Data>()) \ | ||
| 172 | .def(CopyableVisitor<Data>()); | ||
| 173 | |||
| 174 | ✗ | void exposeDifferentialActionFreeFwdDynamics() { | |
| 175 | ✗ | CROCODDYL_ACTION_MODEL_FREE_FWDDYN_PYTHON_BINDINGS(float) | |
| 176 | ✗ | CROCODDYL_ACTION_DATA_FREE_FWDDYN_PYTHON_BINDINGS(float) | |
| 177 | ✗ | } | |
| 178 | |||
| 179 | } // namespace python | ||
| 180 | } // namespace crocoddyl | ||
| 181 |