| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, University of Edinburgh, University of Oxford, |
| 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/friction-cone.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 14 |
|
|
#include "python/crocoddyl/utils/deprecate.hpp" |
| 15 |
|
|
|
| 16 |
|
|
namespace crocoddyl { |
| 17 |
|
|
namespace python { |
| 18 |
|
|
|
| 19 |
|
|
template <typename Model> |
| 20 |
|
|
struct FrictionConeVisitor |
| 21 |
|
|
: public bp::def_visitor<FrictionConeVisitor<Model>> { |
| 22 |
|
|
typedef typename Model::Scalar Scalar; |
| 23 |
|
|
typedef typename Model::Vector3s Vector3s; |
| 24 |
|
|
template <class PyClass> |
| 25 |
|
✗ |
void visit(PyClass& cl) const { |
| 26 |
|
✗ |
cl.def(bp::init<>(bp::args("self"), |
| 27 |
|
|
"Default initialization of the friction cone.")) |
| 28 |
|
✗ |
.def("update", static_cast<void (Model::*)()>(&Model::update), |
| 29 |
|
|
bp::args("self"), |
| 30 |
|
|
"Update the linear inequality (matrix and bounds).\n\n" |
| 31 |
|
|
"Run this function if you have changed one of the parameters.") |
| 32 |
|
✗ |
.def("update", |
| 33 |
|
|
static_cast<void (Model::*)(const Vector3s&, const Scalar, |
| 34 |
|
|
const bool, const Scalar, |
| 35 |
|
|
const Scalar)>(&Model::update), |
| 36 |
|
✗ |
deprecated<>("Deprecated. Use update()."), |
| 37 |
|
|
bp::args("self", "nsurf", "mu", "inner_appr", "min_nforce", |
| 38 |
|
|
"max_nforce"), |
| 39 |
|
|
"Update the linear inequality (matrix and bounds).\n\n" |
| 40 |
|
|
":param nsurf: surface normal vector (it defines the cone " |
| 41 |
|
|
"orientation)\n" |
| 42 |
|
|
":param mu: friction coefficient\n" |
| 43 |
|
|
":param inner_appr: inner or outer approximation (default True)\n" |
| 44 |
|
|
":param min_nforce: minimum normal force (default 0.)\n" |
| 45 |
|
|
":param max_nforce: maximum normal force (default " |
| 46 |
|
|
"sys.float_info.max)") |
| 47 |
|
✗ |
.add_property( |
| 48 |
|
|
"A", |
| 49 |
|
✗ |
bp::make_function(&Model::get_A, bp::return_internal_reference<>()), |
| 50 |
|
|
"inequality matrix") |
| 51 |
|
✗ |
.add_property("ub", |
| 52 |
|
|
bp::make_function(&Model::get_ub, |
| 53 |
|
✗ |
bp::return_internal_reference<>()), |
| 54 |
|
|
"inequality upper bound") |
| 55 |
|
✗ |
.add_property("lb", |
| 56 |
|
|
bp::make_function(&Model::get_lb, |
| 57 |
|
✗ |
bp::return_internal_reference<>()), |
| 58 |
|
|
"inequality lower bound") |
| 59 |
|
✗ |
.add_property( |
| 60 |
|
|
"nf", |
| 61 |
|
|
bp::make_function(&Model::get_nf, |
| 62 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 63 |
|
|
"number of facets (run update() if you have changed the value)") |
| 64 |
|
✗ |
.add_property( |
| 65 |
|
|
"R", |
| 66 |
|
✗ |
bp::make_function(&Model::get_R, bp::return_internal_reference<>()), |
| 67 |
|
|
bp::make_function(&Model::set_R), |
| 68 |
|
|
"rotation matrix that defines the cone orientation w.r.t. " |
| 69 |
|
|
"the inertial frame (run update() if you " |
| 70 |
|
|
"have changed the value)") |
| 71 |
|
✗ |
.add_property( |
| 72 |
|
|
"mu", bp::make_function(&Model::get_mu), |
| 73 |
|
|
bp::make_function(&Model::set_mu), |
| 74 |
|
|
"friction coefficient (run update() if you have changed the value)") |
| 75 |
|
✗ |
.add_property("inner_appr", bp::make_function(&Model::get_inner_appr), |
| 76 |
|
|
bp::make_function(&Model::set_inner_appr), |
| 77 |
|
|
"type of cone approximation (run update() if you have " |
| 78 |
|
|
"changed the value)") |
| 79 |
|
✗ |
.add_property( |
| 80 |
|
|
"min_nforce", bp::make_function(&Model::get_min_nforce), |
| 81 |
|
|
bp::make_function(&Model::set_min_nforce), |
| 82 |
|
|
"minimum normal force (run update() if you have changed the value)") |
| 83 |
|
✗ |
.add_property("max_nforce", bp::make_function(&Model::get_max_nforce), |
| 84 |
|
|
bp::make_function(&Model::set_max_nforce), |
| 85 |
|
|
"maximum normal force (run update() if you have changed " |
| 86 |
|
|
"the value)"); |
| 87 |
|
|
} |
| 88 |
|
|
}; |
| 89 |
|
|
|
| 90 |
|
|
#define CROCODDYL_FRICTION_CONE_PYTHON_BINDINGS(Scalar) \ |
| 91 |
|
|
typedef FrictionConeTpl<Scalar> Model; \ |
| 92 |
|
|
typedef typename Model::Matrix3s Matrix3s; \ |
| 93 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 94 |
|
|
bp::class_<Model>( \ |
| 95 |
|
|
"FrictionCone", "Model of the friction cone as lb <= Af <= ub", \ |
| 96 |
|
|
bp::init<Matrix3s, Scalar, \ |
| 97 |
|
|
bp::optional<std::size_t, bool, Scalar, Scalar>>( \ |
| 98 |
|
|
bp::args("self", "R", "mu", "nf", "inner_appr", "min_nforce", \ |
| 99 |
|
|
"max_nforce"), \ |
| 100 |
|
|
"Initialize the linearize friction cone.\n\n" \ |
| 101 |
|
|
":param R: rotation matrix that defines the cone orientation " \ |
| 102 |
|
|
"w.r.t. the inertial frame\n" \ |
| 103 |
|
|
":param mu: friction coefficient\n" \ |
| 104 |
|
|
":param nf: number of facets (default 4)\n" \ |
| 105 |
|
|
":param inner_appr: inner or outer approximation (default True)\n" \ |
| 106 |
|
|
":param min_nforce: minimum normal force (default 0.)\n" \ |
| 107 |
|
|
":param max_nforce: maximum normal force (default " \ |
| 108 |
|
|
"sys.float_info.max)")) \ |
| 109 |
|
|
.def(FrictionConeVisitor<Model>()) \ |
| 110 |
|
|
.def(CastVisitor<Model>()) \ |
| 111 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 112 |
|
|
.def(CopyableVisitor<Model>()); |
| 113 |
|
|
|
| 114 |
|
✗ |
void exposeFrictionCone() { |
| 115 |
|
|
#pragma GCC diagnostic push // TODO: Remove once the deprecated update call has |
| 116 |
|
|
// been removed in a future release |
| 117 |
|
|
#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
| 118 |
|
|
|
| 119 |
|
✗ |
CROCODDYL_FRICTION_CONE_PYTHON_BINDINGS(float) |
| 120 |
|
|
|
| 121 |
|
|
#pragma GCC diagnostic pop |
| 122 |
|
|
} |
| 123 |
|
|
|
| 124 |
|
|
} // namespace python |
| 125 |
|
|
} // namespace crocoddyl |
| 126 |
|
|
|