| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/actuations/full.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 10 | 10 | 100.0% |
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| 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 | #include "crocoddyl/multibody/actuations/full.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct ActuationModelFullBaseVisitor | ||
| 19 | : public bp::def_visitor<ActuationModelFullBaseVisitor<Model>> { | ||
| 20 | template <class PyClass> | ||
| 21 | 40 | void visit(PyClass& cl) const { | |
| 22 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "x", "u"), | |
| 23 | "Compute the actuation signal and actuation set from the joint " | ||
| 24 | "torque input u.\n\n" | ||
| 25 | ":param data: full actuation data\n" | ||
| 26 | ":param x: state point (dim. state.nx)\n" | ||
| 27 | ":param u: joint torque input (dim. nu)") | ||
| 28 |
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80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x", "u"), |
| 29 | "Compute the derivatives of the actuation model.\n\n" | ||
| 30 | "It computes the partial derivatives of the full actuation. It " | ||
| 31 | "assumes that calc has been run first. The reason is that the " | ||
| 32 | "derivatives are constant and defined in createData. The Hessian " | ||
| 33 | "is constant, so we don't write again this value.\n" | ||
| 34 | ":param data: full actuation data\n" | ||
| 35 | ":param x: state point (dim. state.nx)\n" | ||
| 36 | ":param u: joint torque input (dim. nu)") | ||
| 37 |
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80 | .def("commands", &Model::commands, bp::args("self", "data", "x", "tau"), |
| 38 | "Compute the joint torque commands from the generalized " | ||
| 39 | "torques.\n\n" | ||
| 40 | "It stores the results in data.u.\n" | ||
| 41 | ":param data: actuation data\n" | ||
| 42 | ":param x: state point (dim. state.nx)\n" | ||
| 43 | ":param tau: generalized torques (dim state.nv)") | ||
| 44 |
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80 | .def("torqueTransform", &Model::torqueTransform, |
| 45 | bp::args("self", "data", "x", "tau"), | ||
| 46 | "Compute the torque transform from generalized torques to joint " | ||
| 47 | "torque inputs.\n\n" | ||
| 48 | "It stores the results in data.Mtau.\n" | ||
| 49 | ":param data: actuation data\n" | ||
| 50 | ":param x: state point (dim. state.nx)\n" | ||
| 51 | ":param tau: generalized torques (dim state.nv)") | ||
| 52 |
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40 | .def("createData", &Model::createData, bp::args("self"), |
| 53 | "Create the full actuation data.\n\n" | ||
| 54 | "Each actuation model (AM) has its own data that needs to be " | ||
| 55 | "allocated.\n" | ||
| 56 | "This function returns the allocated data for a predefined AM.\n" | ||
| 57 | ":return AM data."); | ||
| 58 | 40 | } | |
| 59 | }; | ||
| 60 | |||
| 61 | #define CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS(Scalar) \ | ||
| 62 | typedef ActuationModelFullTpl<Scalar> Model; \ | ||
| 63 | typedef ActuationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 64 | typedef StateAbstractTpl<Scalar> StateAbstract; \ | ||
| 65 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 66 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 67 | "ActuationModelFull", "Full actuation models.", \ | ||
| 68 | bp::init<std::shared_ptr<StateAbstract>>( \ | ||
| 69 | bp::args("self", "state"), \ | ||
| 70 | "Initialize the full actuation model.\n\n" \ | ||
| 71 | ":param state: state of dynamical system")) \ | ||
| 72 | .def(ActuationModelFullBaseVisitor<Model>()) \ | ||
| 73 | .def(CastVisitor<Model>()) \ | ||
| 74 | .def(PrintableVisitor<Model>()) \ | ||
| 75 | .def(CopyableVisitor<Model>()); | ||
| 76 | |||
| 77 | 10 | void exposeActuationFull() { | |
| 78 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTUATION_MODEL_FULL_PYTHON_BINDINGS) |
| 79 | 10 | } | |
| 80 | |||
| 81 | } // namespace python | ||
| 82 | } // namespace crocoddyl | ||
| 83 |