| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh | ||
| 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 double | ||
| 11 | #include "crocoddyl/multibody/actuations/full.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ActuationModelFullBaseVisitor | ||
| 20 | : public bp::def_visitor<ActuationModelFullBaseVisitor<Model>> { | ||
| 21 | template <class PyClass> | ||
| 22 | ✗ | void visit(PyClass& cl) const { | |
| 23 | ✗ | cl.def("calc", &Model::calc, bp::args("self", "data", "x", "u"), | |
| 24 | "Compute the actuation signal and actuation set from the joint " | ||
| 25 | "torque input u.\n\n" | ||
| 26 | ":param data: full actuation data\n" | ||
| 27 | ":param x: state point (dim. state.nx)\n" | ||
| 28 | ":param u: joint torque input (dim. nu)") | ||
| 29 | ✗ | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), | |
| 30 | "Compute the derivatives of the actuation model.\n\n" | ||
| 31 | "It computes the partial derivatives of the full actuation. It " | ||
| 32 | "assumes that calc has been run first. The reason is that the " | ||
| 33 | "derivatives are constant and defined in createData. The Hessian " | ||
| 34 | "is constant, so we don't write again this value.\n" | ||
| 35 | ":param data: full actuation data\n" | ||
| 36 | ":param x: state point (dim. state.nx)\n" | ||
| 37 | ":param u: joint torque input (dim. nu)") | ||
| 38 | ✗ | .def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), | |
| 39 | "Compute the joint torque commands from the generalized " | ||
| 40 | "torques.\n\n" | ||
| 41 | "It stores the results in data.u.\n" | ||
| 42 | ":param data: actuation data\n" | ||
| 43 | ":param x: state point (dim. state.nx)\n" | ||
| 44 | ":param tau: generalized torques (dim state.nv)") | ||
| 45 | ✗ | .def("torqueTransform", &Model::torqueTransform, | |
| 46 | bp::args("self", "data", "x", "tau"), | ||
| 47 | "Compute the torque transform from generalized torques to joint " | ||
| 48 | "torque inputs.\n\n" | ||
| 49 | "It stores the results in data.Mtau.\n" | ||
| 50 | ":param data: actuation data\n" | ||
| 51 | ":param x: state point (dim. state.nx)\n" | ||
| 52 | ":param tau: generalized torques (dim state.nv)") | ||
| 53 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 54 | "Create the full actuation data.\n\n" | ||
| 55 | "Each actuation model (AM) has its own data that needs to be " | ||
| 56 | "allocated.\n" | ||
| 57 | "This function returns the allocated data for a predefined AM.\n" | ||
| 58 | ":return AM data."); | ||
| 59 | ✗ | } | |
| 60 | }; | ||
| 61 | |||
| 62 | #define CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS(Scalar) \ | ||
| 63 | typedef ActuationModelFullTpl<Scalar> Model; \ | ||
| 64 | typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 65 | typedef StateAbstractTpl<Scalar> StateAbstract; \ | ||
| 66 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 67 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 68 | "ActuationModelFull", "Full actuation models.", \ | ||
| 69 | bp::init<std::shared_ptr<StateAbstract>>( \ | ||
| 70 | bp::args("self", "state"), \ | ||
| 71 | "Initialize the full actuation model.\n\n" \ | ||
| 72 | ":param state: state of dynamical system")) \ | ||
| 73 | .def(ActuationModelFullBaseVisitor<Model>()) \ | ||
| 74 | .def(CastVisitor<Model>()) \ | ||
| 75 | .def(PrintableVisitor<Model>()) \ | ||
| 76 | .def(CopyableVisitor<Model>()); | ||
| 77 | |||
| 78 | ✗ | void exposeActuationFull() { | |
| 79 | ✗ | CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS(double) | |
| 80 | ✗ | } | |
| 81 | |||
| 82 | } // namespace python | ||
| 83 | } // namespace crocoddyl | ||
| 84 |