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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/actions/free-invdyn.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 DifferentialActionModelFreeInvDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionModelFreeInvDynamicsVisitor<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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":param data: free inverse-dynamics 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("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\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: free inverse-dynamics 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("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 inverse-dynamics differential action data.") |
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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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} |
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}; |
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template <typename Model> |
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struct DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor |
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: public bp::def_visitor< |
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DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor< |
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Model>> { |
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typedef typename Model::ResidualDataAbstract 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 actuation 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("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 Jacobians of the actuation 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)\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, |
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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 actuation 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\n" |
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"returns the allocated data for the actuation residual.\n" |
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":param data: shared data\n" |
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":return residual data."); |
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} |
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}; |
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template <typename Data> |
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struct DifferentialActionDataFreeInvDynamicsVisitor |
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: public bp::def_visitor< |
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DifferentialActionDataFreeInvDynamicsVisitor<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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} |
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}; |
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#define CROCODDYL_ACTION_MODEL_FREE_INVDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionModelFreeInvDynamicsTpl<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::scope model_outer = \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"DifferentialActionModelFreeInvDynamics", \ |
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"Differential action model for free inverse dynamics in multibody " \ |
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"systems.\n\n" \ |
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"This class implements the dynamics using Recursive Newton Euler " \ |
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"Algorithm (RNEA) as an equality constraint. The stack of cost and " \ |
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"constraint functions are implemented in ConstraintModelManager() " \ |
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"and CostModelSum(), respectively.", \ |
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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 inverse-dynamics action model.\n\n" \ |
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"It describes the kinematic evolution of the multibody system " \ |
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"and computes the needed torques using inverse dynamics.\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(DifferentialActionModelFreeInvDynamicsVisitor<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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typedef typename Model::ResidualModelActuation ResidualModelActuation; \ |
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typedef typename ResidualModelActuation::Base ResidualModelBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<ResidualModelActuation>>(); \ |
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bp::class_<ResidualModelActuation, bp::bases<ResidualModelBase>>( \ |
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"ResidualModelActuation", \ |
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"This residual function enforces the torques of under-actuated joints " \ |
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"(e.g., floating-base joints) to be zero. We compute these torques and " \ |
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"their derivatives using RNEA inside " \ |
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"DifferentialActionModelFreeInvDynamics.", \ |
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bp::init<std::shared_ptr<State>, std::size_t>( \ |
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bp::args("self", "state", "nu"), \ |
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"Initialize the actuation residual model.\n\n" \ |
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":param state: state description\n" \ |
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":param nu: dimension of the joint torques")) \ |
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.def( \ |
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DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor< \ |
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ResidualModelActuation>()) \ |
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.def(CopyableVisitor<ResidualModelActuation>()); |
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#define CROCODDYL_ACTION_DATA_FREE_INVDYN_PYTHON_BINDINGS(Scalar) \ |
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typedef DifferentialActionDataFreeInvDynamicsTpl<Scalar> Data; \ |
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typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef DifferentialActionModelFreeInvDynamicsTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::scope data_outer = \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"DifferentialActionDataFreeInvDynamics", \ |
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"Action data for the free inverse-dynamics system.", \ |
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bp::init<Model*>( \ |
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bp::args("self", "model"), \ |
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"Create free inverse-dynamics action data.\n\n" \ |
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":param model: free inverse-dynamics action model")) \ |
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.def(DifferentialActionDataFreeInvDynamicsVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); \ |
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typedef typename Model::ResidualModelActuation ResidualModelActuation; \ |
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typedef typename Data::ResidualDataActuation ResidualDataActuation; \ |
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typedef typename ResidualDataActuation::Base ResidualDataBase; \ |
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typedef \ |
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typename ResidualModelActuation::DataCollectorAbstract DataCollector; \ |
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bp::register_ptr_to_python<std::shared_ptr<ResidualDataActuation>>(); \ |
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bp::class_<ResidualDataActuation, bp::bases<ResidualDataBase>>( \ |
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"ResidualDataActuation", "Data for actuation residual.\n\n", \ |
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bp::init<ResidualModelActuation*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create actuation residual data.\n\n" \ |
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":param model: actuation 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(CopyableVisitor<ResidualDataActuation>()); |
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void exposeDifferentialActionFreeInvDynamics() { |
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CROCODDYL_ACTION_MODEL_FREE_INVDYN_PYTHON_BINDINGS(double) |
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CROCODDYL_ACTION_DATA_FREE_INVDYN_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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