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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | // Auto-generated file for double | ||
| 10 | #include "crocoddyl/multibody/actions/free-invdyn.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/diff-action-base.hpp" | ||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct DifferentialActionModelFreeInvDynamicsVisitor | ||
| 20 | : public bp::def_visitor< | ||
| 21 | DifferentialActionModelFreeInvDynamicsVisitor<Model>> { | ||
| 22 | typedef typename Model::DifferentialActionDataAbstract Data; | ||
| 23 | typedef typename Model::VectorXs VectorXs; | ||
| 24 | template <class PyClass> | ||
| 25 | ✗ | void visit(PyClass& cl) const { | |
| 26 | ✗ | cl.def("calc", | |
| 27 | static_cast<void (Model::*)( | ||
| 28 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 29 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 30 | bp::args("self", "data", "x", "u"), | ||
| 31 | "Compute the next state and cost value.\n\n" | ||
| 32 | ":param data: free inverse-dynamics data\n" | ||
| 33 | ":param x: state point (dim. state.nx)\n" | ||
| 34 | ":param u: control input (dim. nu)") | ||
| 35 | ✗ | .def("calc", | |
| 36 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 37 | const Eigen::Ref<const VectorXs>&)>( | ||
| 38 | &Model::calc), | ||
| 39 | bp::args("self", "data", "x")) | ||
| 40 | ✗ | .def( | |
| 41 | "calcDiff", | ||
| 42 | static_cast<void (Model::*)( | ||
| 43 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 44 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 45 | bp::args("self", "data", "x", "u"), | ||
| 46 | "Compute the derivatives of the differential multibody system " | ||
| 47 | "(free of contact) and its cost functions.\n\n" | ||
| 48 | "It computes the partial derivatives of the differential multibody " | ||
| 49 | "system and the cost function. It assumes that calc has been run " | ||
| 50 | "first. This function builds a quadratic approximation of the\n" | ||
| 51 | "action model (i.e. dynamical system and cost function).\n" | ||
| 52 | ":param data: free inverse-dynamics data\n" | ||
| 53 | ":param x: state point (dim. state.nx)\n" | ||
| 54 | ":param u: control input (dim. nu)") | ||
| 55 | ✗ | .def("calcDiff", | |
| 56 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 57 | const Eigen::Ref<const VectorXs>&)>( | ||
| 58 | &Model::calcDiff), | ||
| 59 | bp::args("self", "data", "x")) | ||
| 60 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 61 | "Create the free inverse-dynamics differential action data.") | ||
| 62 | ✗ | .add_property( | |
| 63 | "actuation", | ||
| 64 | bp::make_function(&Model::get_actuation, | ||
| 65 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 66 | "actuation model") | ||
| 67 | ✗ | .add_property( | |
| 68 | "costs", | ||
| 69 | bp::make_function(&Model::get_costs, | ||
| 70 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 71 | "total cost model") | ||
| 72 | ✗ | .add_property( | |
| 73 | "constraints", | ||
| 74 | bp::make_function(&Model::get_constraints, | ||
| 75 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 76 | "constraint model manager"); | ||
| 77 | ✗ | } | |
| 78 | }; | ||
| 79 | |||
| 80 | template <typename Model> | ||
| 81 | struct DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor | ||
| 82 | : public bp::def_visitor< | ||
| 83 | DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor< | ||
| 84 | Model>> { | ||
| 85 | typedef typename Model::ResidualDataAbstract Data; | ||
| 86 | typedef typename Model::VectorXs VectorXs; | ||
| 87 | template <class PyClass> | ||
| 88 | ✗ | void visit(PyClass& cl) const { | |
| 89 | ✗ | cl.def("calc", | |
| 90 | static_cast<void (Model::*)( | ||
| 91 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 92 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 93 | bp::args("self", "data", "x", "u"), | ||
| 94 | "Compute the actuation residual.\n\n" | ||
| 95 | ":param data: residual data\n" | ||
| 96 | ":param x: state point (dim. state.nx)\n" | ||
| 97 | ":param u: control input (dim. nu)") | ||
| 98 | ✗ | .def("calc", | |
| 99 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 100 | const Eigen::Ref<const VectorXs>&)>( | ||
| 101 | &Model::calc), | ||
| 102 | bp::args("self", "data", "x")) | ||
| 103 | ✗ | .def( | |
| 104 | "calcDiff", | ||
| 105 | static_cast<void (Model::*)( | ||
| 106 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 107 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 108 | bp::args("self", "data", "x", "u"), | ||
| 109 | "Compute the Jacobians of the actuation residual.\n\n" | ||
| 110 | "It assumes that calc has been run first.\n" | ||
| 111 | ":param data: action data\n" | ||
| 112 | ":param x: state point (dim. state.nx)\n" | ||
| 113 | ":param u: control input (dim. nu)\n") | ||
| 114 | ✗ | .def("calcDiff", | |
| 115 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 116 | const Eigen::Ref<const VectorXs>&)>( | ||
| 117 | &Model::calcDiff), | ||
| 118 | bp::args("self", "data", "x")) | ||
| 119 | ✗ | .def("createData", &Model::createData, | |
| 120 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 121 | bp::args("self", "data"), | ||
| 122 | "Create the actuation residual data.\n\n" | ||
| 123 | "Each residual model has its own data that needs to be allocated. " | ||
| 124 | "This function\n" | ||
| 125 | "returns the allocated data for the actuation residual.\n" | ||
| 126 | ":param data: shared data\n" | ||
| 127 | ":return residual data."); | ||
| 128 | ✗ | } | |
| 129 | }; | ||
| 130 | |||
| 131 | template <typename Data> | ||
| 132 | struct DifferentialActionDataFreeInvDynamicsVisitor | ||
| 133 | : public bp::def_visitor< | ||
| 134 | DifferentialActionDataFreeInvDynamicsVisitor<Data>> { | ||
| 135 | template <class PyClass> | ||
| 136 | ✗ | void visit(PyClass& cl) const { | |
| 137 | ✗ | cl.add_property( | |
| 138 | "pinocchio", | ||
| 139 | ✗ | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 140 | "pinocchio data") | ||
| 141 | ✗ | .add_property("multibody", | |
| 142 | ✗ | bp::make_getter(&Data::multibody, | |
| 143 | ✗ | bp::return_internal_reference<>()), | |
| 144 | "multibody data") | ||
| 145 | ✗ | .add_property( | |
| 146 | "costs", | ||
| 147 | ✗ | bp::make_getter(&Data::costs, | |
| 148 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 149 | "total cost data") | ||
| 150 | ✗ | .add_property( | |
| 151 | "constraints", | ||
| 152 | ✗ | bp::make_getter(&Data::constraints, | |
| 153 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 154 | "constraint data"); | ||
| 155 | ✗ | } | |
| 156 | }; | ||
| 157 | |||
| 158 | #define CROCODDYL_ACTION_MODEL_FREE_INVDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 159 | typedef DifferentialActionModelFreeInvDynamicsTpl<Scalar> Model; \ | ||
| 160 | typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 161 | typedef typename Model::StateMultibody State; \ | ||
| 162 | typedef typename Model::ActuationModelAbstract Actuation; \ | ||
| 163 | typedef typename Model::CostModelSum Costs; \ | ||
| 164 | typedef typename Model::ConstraintModelManager Constraints; \ | ||
| 165 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 166 | bp::scope model_outer = \ | ||
| 167 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 168 | "DifferentialActionModelFreeInvDynamics", \ | ||
| 169 | "Differential action model for free inverse dynamics in multibody " \ | ||
| 170 | "systems.\n\n" \ | ||
| 171 | "This class implements the dynamics using Recursive Newton Euler " \ | ||
| 172 | "Algorithm (RNEA) as an equality constraint. The stack of cost and " \ | ||
| 173 | "constraint functions are implemented in ConstraintModelManager() " \ | ||
| 174 | "and CostModelSum(), respectively.", \ | ||
| 175 | bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, \ | ||
| 176 | std::shared_ptr<Costs>, \ | ||
| 177 | bp::optional<std::shared_ptr<Constraints>>>( \ | ||
| 178 | bp::args("self", "state", "actuation", "costs", "constraints"), \ | ||
| 179 | "Initialize the free inverse-dynamics action model.\n\n" \ | ||
| 180 | "It describes the kinematic evolution of the multibody system " \ | ||
| 181 | "and computes the needed torques using inverse dynamics.\n" \ | ||
| 182 | ":param state: multibody state\n" \ | ||
| 183 | ":param actuation: abstract actuation model\n" \ | ||
| 184 | ":param costs: stack of cost functions\n" \ | ||
| 185 | ":param constraints: stack of constraint functions")) \ | ||
| 186 | .def(DifferentialActionModelFreeInvDynamicsVisitor<Model>()) \ | ||
| 187 | .def(CastVisitor<Model>()) \ | ||
| 188 | .def(PrintableVisitor<Model>()) \ | ||
| 189 | .def(CopyableVisitor<Model>()); \ | ||
| 190 | typedef typename Model::ResidualModelActuation ResidualModelActuation; \ | ||
| 191 | typedef typename ResidualModelActuation::Base ResidualModelBase; \ | ||
| 192 | bp::register_ptr_to_python<std::shared_ptr<ResidualModelActuation>>(); \ | ||
| 193 | bp::class_<ResidualModelActuation, bp::bases<ResidualModelBase>>( \ | ||
| 194 | "ResidualModelActuation", \ | ||
| 195 | "This residual function enforces the torques of under-actuated joints " \ | ||
| 196 | "(e.g., floating-base joints) to be zero. We compute these torques and " \ | ||
| 197 | "their derivatives using RNEA inside " \ | ||
| 198 | "DifferentialActionModelFreeInvDynamics.", \ | ||
| 199 | bp::init<std::shared_ptr<State>, std::size_t>( \ | ||
| 200 | bp::args("self", "state", "nu"), \ | ||
| 201 | "Initialize the actuation residual model.\n\n" \ | ||
| 202 | ":param state: state description\n" \ | ||
| 203 | ":param nu: dimension of the joint torques")) \ | ||
| 204 | .def( \ | ||
| 205 | DifferentialActionModelFreeInvDynamicsResidualModelActuationVisitor< \ | ||
| 206 | ResidualModelActuation>()) \ | ||
| 207 | .def(CopyableVisitor<ResidualModelActuation>()); | ||
| 208 | |||
| 209 | #define CROCODDYL_ACTION_DATA_FREE_INVDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 210 | typedef DifferentialActionDataFreeInvDynamicsTpl<Scalar> Data; \ | ||
| 211 | typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 212 | typedef DifferentialActionModelFreeInvDynamicsTpl<Scalar> Model; \ | ||
| 213 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 214 | bp::scope data_outer = \ | ||
| 215 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 216 | "DifferentialActionDataFreeInvDynamics", \ | ||
| 217 | "Action data for the free inverse-dynamics system.", \ | ||
| 218 | bp::init<Model*>( \ | ||
| 219 | bp::args("self", "model"), \ | ||
| 220 | "Create free inverse-dynamics action data.\n\n" \ | ||
| 221 | ":param model: free inverse-dynamics action model")) \ | ||
| 222 | .def(DifferentialActionDataFreeInvDynamicsVisitor<Data>()) \ | ||
| 223 | .def(CopyableVisitor<Data>()); \ | ||
| 224 | typedef typename Model::ResidualModelActuation ResidualModelActuation; \ | ||
| 225 | typedef typename Data::ResidualDataActuation ResidualDataActuation; \ | ||
| 226 | typedef typename ResidualDataActuation::Base ResidualDataBase; \ | ||
| 227 | typedef \ | ||
| 228 | typename ResidualModelActuation::DataCollectorAbstract DataCollector; \ | ||
| 229 | bp::register_ptr_to_python<std::shared_ptr<ResidualDataActuation>>(); \ | ||
| 230 | bp::class_<ResidualDataActuation, bp::bases<ResidualDataBase>>( \ | ||
| 231 | "ResidualDataActuation", "Data for actuation residual.\n\n", \ | ||
| 232 | bp::init<ResidualModelActuation*, DataCollector*>( \ | ||
| 233 | bp::args("self", "model", "data"), \ | ||
| 234 | "Create actuation residual data.\n\n" \ | ||
| 235 | ":param model: actuation residual model\n" \ | ||
| 236 | ":param data: shared data")[bp::with_custodian_and_ward< \ | ||
| 237 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 238 | .def(CopyableVisitor<ResidualDataActuation>()); | ||
| 239 | |||
| 240 | ✗ | void exposeDifferentialActionFreeInvDynamics() { | |
| 241 | ✗ | CROCODDYL_ACTION_MODEL_FREE_INVDYN_PYTHON_BINDINGS(double) | |
| 242 | ✗ | CROCODDYL_ACTION_DATA_FREE_INVDYN_PYTHON_BINDINGS(double) | |
| 243 | ✗ | } | |
| 244 | |||
| 245 | } // namespace python | ||
| 246 | } // namespace crocoddyl | ||
| 247 |