| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/friction-cone.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 41 | 42 | 97.6% |
| Branches: | 36 | 72 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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 | #include "crocoddyl/multibody/friction-cone.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 13 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 14 | #include "python/crocoddyl/utils/deprecate.hpp" | ||
| 15 | #include "python/crocoddyl/utils/printable.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | 10 | void exposeFrictionCone() { | |
| 21 | 10 | bp::register_ptr_to_python<boost::shared_ptr<FrictionCone> >(); | |
| 22 | |||
| 23 | #pragma GCC diagnostic push // TODO: Remove once the deprecated update call has | ||
| 24 | // been removed in a future release | ||
| 25 | #pragma GCC diagnostic ignored "-Wdeprecated-declarations" | ||
| 26 | |||
| 27 |
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10 | bp::class_<FrictionCone>( |
| 28 | "FrictionCone", "Model of the friction cone as lb <= Af <= ub", | ||
| 29 |
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10 | bp::init<Eigen::Matrix3d, double, |
| 30 | bp::optional<std::size_t, bool, double, double> >( | ||
| 31 | 20 | bp::args("self", "R", "mu", "nf", "inner_appr", "min_nforce", | |
| 32 | "max_nforce"), | ||
| 33 | "Initialize the linearize friction cone.\n\n" | ||
| 34 | ":param R: rotation matrix that defines the cone orientation w.r.t. " | ||
| 35 | "the inertial frame\n" | ||
| 36 | ":param mu: friction coefficient\n" | ||
| 37 | ":param nf: number of facets (default 4)\n" | ||
| 38 | ":param inner_appr: inner or outer approximation (default True)\n" | ||
| 39 | ":param min_nforce: minimum normal force (default 0.)\n" | ||
| 40 | ":param max_nforce: maximum normal force (default " | ||
| 41 | "sys.float_info.max)")) | ||
| 42 |
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20 | .def(bp::init<>(bp::args("self"), |
| 43 | "Default initialization of the friction cone.")) | ||
| 44 | 20 | .def<void (FrictionCone::*)()>( | |
| 45 |
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20 | "update", &FrictionCone::update, bp::args("self"), |
| 46 | "Update the linear inequality (matrix and bounds).\n\n" | ||
| 47 | "Run this function if you have changed one of the parameters.") | ||
| 48 | .def<void (FrictionCone::*)(const Eigen::Vector3d&, const double, | ||
| 49 |
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10 | const bool, const double, const double)>( |
| 50 | "update", &FrictionCone::update, | ||
| 51 |
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20 | deprecated<>("Deprecated. Use update()."), |
| 52 |
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20 | bp::args("self", "nsurf", "mu", "inner_appr", "min_nforce", |
| 53 | "max_nforce"), | ||
| 54 | "Update the linear inequality (matrix and bounds).\n\n" | ||
| 55 | ":param nsurf: surface normal vector (it defines the cone " | ||
| 56 | "orientation)\n" | ||
| 57 | ":param mu: friction coefficient\n" | ||
| 58 | ":param inner_appr: inner or outer approximation (default True)\n" | ||
| 59 | ":param min_nforce: minimum normal force (default 0.)\n" | ||
| 60 | ":param max_nforce: maximum normal force (default " | ||
| 61 | "sys.float_info.max)") | ||
| 62 |
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20 | .add_property("A", |
| 63 |
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10 | bp::make_function(&FrictionCone::get_A, |
| 64 | 10 | bp::return_internal_reference<>()), | |
| 65 | "inequality matrix") | ||
| 66 |
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10 | .add_property("ub", |
| 67 |
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10 | bp::make_function(&FrictionCone::get_ub, |
| 68 | 10 | bp::return_internal_reference<>()), | |
| 69 | "inequality upper bound") | ||
| 70 |
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10 | .add_property("lb", |
| 71 |
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10 | bp::make_function(&FrictionCone::get_lb, |
| 72 | 10 | bp::return_internal_reference<>()), | |
| 73 | "inequality lower bound") | ||
| 74 |
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10 | .add_property( |
| 75 | "nf", | ||
| 76 |
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10 | bp::make_function(&FrictionCone::get_nf, |
| 77 | 10 | bp::return_value_policy<bp::return_by_value>()), | |
| 78 | "number of facets (run update() if you have changed the value)") | ||
| 79 |
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10 | .add_property("R", |
| 80 |
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10 | bp::make_function(&FrictionCone::get_R, |
| 81 | ✗ | bp::return_internal_reference<>()), | |
| 82 |
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20 | bp::make_function(&FrictionCone::set_R), |
| 83 | "rotation matrix that defines the cone orientation w.r.t. " | ||
| 84 | "the inertial frame (run update() if you " | ||
| 85 | "have changed the value)") | ||
| 86 |
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10 | .add_property( |
| 87 |
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10 | "mu", bp::make_function(&FrictionCone::get_mu), |
| 88 |
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20 | bp::make_function(&FrictionCone::set_mu), |
| 89 | "friction coefficient (run update() if you have changed the value)") | ||
| 90 |
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10 | .add_property("inner_appr", |
| 91 |
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10 | bp::make_function(&FrictionCone::get_inner_appr), |
| 92 |
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20 | bp::make_function(&FrictionCone::set_inner_appr), |
| 93 | "type of cone approximation (run update() if you have " | ||
| 94 | "changed the value)") | ||
| 95 |
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10 | .add_property( |
| 96 |
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10 | "min_nforce", bp::make_function(&FrictionCone::get_min_nforce), |
| 97 |
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20 | bp::make_function(&FrictionCone::set_min_nforce), |
| 98 | "minimum normal force (run update() if you have changed the value)") | ||
| 99 |
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10 | .add_property( |
| 100 |
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10 | "max_nforce", bp::make_function(&FrictionCone::get_max_nforce), |
| 101 |
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20 | bp::make_function(&FrictionCone::set_max_nforce), |
| 102 | "maximum normal force (run update() if you have changed the value)") | ||
| 103 |
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10 | .def(CopyableVisitor<FrictionCone>()) |
| 104 |
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10 | .def(PrintableVisitor<FrictionCone>()); |
| 105 | |||
| 106 | #pragma GCC diagnostic pop | ||
| 107 | 10 | } | |
| 108 | |||
| 109 | } // namespace python | ||
| 110 | } // namespace crocoddyl | ||
| 111 |