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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh |
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// 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 float |
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#include "crocoddyl/multibody/actions/free-fwddyn.hpp" |
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#include "python/crocoddyl/core/diff-action-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 Model> |
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struct DifferentialActionModelFreeFwdDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionModelFreeFwdDynamicsVisitor<Model>> { |
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typedef typename Model::DifferentialActionDataAbstract Data; |
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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("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 next state and cost value.\n\n" |
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"It describes the time-continuous evolution of the multibody system " |
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"without any contact. Additionally it computes the cost value " |
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"associated to this state and control pair.\n" |
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":param data: free forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input") |
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.def("calc", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::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 derivatives of the differential multibody system " |
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"(free of contact) and its cost functions.\n\n" |
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"It computes the partial derivatives of the differential multibody " |
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"system and the cost function. It assumes that calc has been run " |
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"first. This function builds a quadratic approximation of the " |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: free forward-dynamics action data\n" |
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":param x: time-continuous state vector\n" |
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":param u: time-continuous control input\n") |
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.def("calcDiff", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the free forward dynamics differential action data.") |
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.add_property("pinocchio", |
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bp::make_function(&Model::get_pinocchio, |
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bp::return_internal_reference<>()), |
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"multibody model (i.e. pinocchio model)") |
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.add_property( |
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"actuation", |
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bp::make_function(&Model::get_actuation, |
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bp::return_value_policy<bp::return_by_value>()), |
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"actuation model") |
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.add_property( |
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"costs", |
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bp::make_function(&Model::get_costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost model") |
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.add_property( |
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"constraints", |
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bp::make_function(&Model::get_constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint model manager") |
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.add_property("armature", |
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bp::make_function(&Model::get_armature, |
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bp::return_internal_reference<>()), |
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bp::make_function(&Model::set_armature), |
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"set an armature mechanism in the joints"); |
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} |
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}; |
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template <typename Data> |
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struct DifferentialActionDataFreeFwdDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionDataFreeFwdDynamicsVisitor<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("multibody", |
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bp::make_getter(&Data::multibody, |
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bp::return_internal_reference<>()), |
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"multibody data") |
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.add_property( |
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"costs", |
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bp::make_getter(&Data::costs, |
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bp::return_value_policy<bp::return_by_value>()), |
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"total cost data") |
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.add_property( |
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"constraints", |
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bp::make_getter(&Data::constraints, |
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bp::return_value_policy<bp::return_by_value>()), |
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"constraint data") |
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.add_property( |
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"Minv", |
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bp::make_getter(&Data::Minv, bp::return_internal_reference<>()), |
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"inverse of the joint-space inertia matrix") |
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.add_property( |
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"u_drift", |
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bp::make_getter(&Data::u_drift, bp::return_internal_reference<>()), |
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"force-bias vector that accounts for control, Coriolis and " |
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"gravitational effects"); |
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} |
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}; |
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#define CROCODDYL_ACTION_MODEL_FREE_FWDDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionModelFreeFwdDynamicsTpl<Scalar> Model; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename Model::StateMultibody State; \ |
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typedef typename Model::ActuationModelAbstract Actuation; \ |
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typedef typename Model::CostModelSum Costs; \ |
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typedef typename Model::ConstraintModelManager Constraints; \ |
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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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"DifferentialActionModelFreeFwdDynamics", \ |
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"Differential action model for free forward dynamics in multibody " \ |
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"systems.\n\n" \ |
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"This class implements a the dynamics using Articulate Body Algorithm " \ |
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"(ABA), or a custom implementation in case of system with armatures. " \ |
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"If you want to include the armature, you need to use set_armature(). " \ |
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"On the other hand, the stack of cost functions are implemented in " \ |
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"CostModelSum().", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ |
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std::shared_ptr<Costs>, \ |
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bp::optional<std::shared_ptr<Constraints>>>( \ |
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bp::args("self", "state", "actuation", "costs", "constraints"), \ |
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"Initialize the free forward-dynamics action model.\n\n" \ |
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":param state: multibody state\n" \ |
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":param actuation: abstract actuation model\n" \ |
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":param costs: stack of cost functions\n" \ |
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":param constraints: stack of constraint functions")) \ |
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.def(DifferentialActionModelFreeFwdDynamicsVisitor<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_ACTION_DATA_FREE_FWDDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionDataFreeFwdDynamicsTpl<Scalar> Data; \ |
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typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef DifferentialActionModelFreeFwdDynamicsTpl<Scalar> Model; \ |
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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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"DifferentialActionDataFreeFwdDynamics", \ |
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"Action data for the free forward dynamics system.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create free forward-dynamics action data.\n\n" \ |
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":param model: free forward-dynamics action model")) \ |
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.def(DifferentialActionDataFreeFwdDynamicsVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeDifferentialActionFreeFwdDynamics() { |
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CROCODDYL_ACTION_MODEL_FREE_FWDDYN_PYTHON_BINDINGS(float) |
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CROCODDYL_ACTION_DATA_FREE_FWDDYN_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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