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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh |
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// 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/actuations/full.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 ActuationModelFullBaseVisitor |
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: public bp::def_visitor<ActuationModelFullBaseVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", &Model::calc, bp::args("self", "data", "x", "u"), |
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"Compute the actuation signal and actuation set from the joint " |
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"torque input u.\n\n" |
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":param data: full actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint torque input (dim. nu)") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the actuation model.\n\n" |
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"It computes the partial derivatives of the full actuation. It " |
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"assumes that calc has been run first. The reason is that the " |
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"derivatives are constant and defined in createData. The Hessian " |
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"is constant, so we don't write again this value.\n" |
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":param data: full actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: joint torque input (dim. nu)") |
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.def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), |
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"Compute the joint torque commands from the generalized " |
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"torques.\n\n" |
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"It stores the results in data.u.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param tau: generalized torques (dim state.nv)") |
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.def("torqueTransform", &Model::torqueTransform, |
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bp::args("self", "data", "x", "tau"), |
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"Compute the torque transform from generalized torques to joint " |
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"torque inputs.\n\n" |
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"It stores the results in data.Mtau.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param tau: generalized torques (dim state.nv)") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the full actuation data.\n\n" |
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"Each actuation model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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":return AM data."); |
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} |
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}; |
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#define CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS(Scalar) \ |
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typedef ActuationModelFullTpl<Scalar> Model; \ |
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typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ |
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typedef StateAbstractTpl<Scalar> StateAbstract; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ActuationModelFull", "Full actuation models.", \ |
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bp::init<std::shared_ptr<StateAbstract>>( \ |
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bp::args("self", "state"), \ |
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"Initialize the full actuation model.\n\n" \ |
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":param state: state of dynamical system")) \ |
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.def(ActuationModelFullBaseVisitor<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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void exposeActuationFull() { |
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CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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