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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/impulses/impulse-3d.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 ImpulseModel3DVisitor |
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: public bp::def_visitor<ImpulseModel3DVisitor<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"), |
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"Compute the 3D impulse Jacobian and drift.\n\n" |
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"The rigid impulse model throught acceleration-base holonomic " |
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"constraint of the impulse frame placement.\n" |
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":param data: impulse data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), |
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"Compute the derivatives of the 3D impulse holonomic " |
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"constraint.\n\n" |
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"The rigid impulse model throught acceleration-base holonomic " |
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"constraint of the impulse frame placement. It assumes that calc " |
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"has been run first.\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)") |
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.def("updateForce", &Model::updateForce, |
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bp::args("self", "data", "force"), |
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"Convert the force into a stack of spatial forces.\n\n" |
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":param data: cost data\n" |
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":param force: force vector (dimension 3)") |
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.def("createData", &Model::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the 3D impulse data.\n\n" |
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"Each impulse model has its own data that needs to be allocated. " |
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"This function returns the allocated data for a predefined cost.\n" |
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":param data: Pinocchio data\n" |
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":return impulse data."); |
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} |
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}; |
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template <typename Data> |
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struct ImpulseData3DVisitor |
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: public bp::def_visitor<ImpulseData3DVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"f_local", |
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bp::make_getter(&Data::f_local, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::f_local), |
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"spatial contact force in local coordinates") |
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.add_property("dv0_local_dq", |
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bp::make_getter(&Data::dv0_local_dq, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dv0_local_dq), |
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"Jacobian of the desired local contact velocity") |
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.add_property( |
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"fJf", |
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bp::make_getter(&Data::fJf, bp::return_internal_reference<>()), |
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"local Jacobian of the impulse frame") |
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.add_property("v_partial_dq", |
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bp::make_getter(&Data::v_partial_dq, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body velocity") |
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.add_property("v_partial_dv", |
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bp::make_getter(&Data::v_partial_dv, |
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bp::return_internal_reference<>()), |
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"Jacobian of the spatial body velocity"); |
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} |
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}; |
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#define CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseModel3DTpl<Scalar> Model; \ |
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typedef ImpulseModelAbstractTpl<Scalar> ModelBase; \ |
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typedef Model::StateMultibody State; \ |
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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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"ImpulseModel3D", \ |
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"Rigid 3D impulse model.\n\n" \ |
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"It defines a rigid 3D impulse models (point impulse) based on " \ |
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"acceleration-based holonomic constraints. The calc and calcDiff " \ |
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"functions compute the impulse Jacobian and drift (holonomic " \ |
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"constraint) or the derivatives of the holonomic constraint, " \ |
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"respectively.", \ |
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bp::init<std::shared_ptr<State>, std::size_t, \ |
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bp::optional<pinocchio::ReferenceFrame>>( \ |
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bp::args("self", "state", "frame", "type"), \ |
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"Initialize the 3D impulse model.\n\n" \ |
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":param state: state of the multibody system\n" \ |
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":param type: type of impulse (default pinocchio.LOCAL)\n" \ |
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":param frame: reference frame id")) \ |
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.def(ImpulseModel3DVisitor<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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#define CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseData3DTpl<Scalar> Data; \ |
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typedef ImpulseDataAbstractTpl<Scalar> DataBase; \ |
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typedef ImpulseModel3DTpl<Scalar> Model; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"ImpulseData3D", "Data for 3D impulse.\n\n", \ |
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bp::init<Model*, PinocchioData*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create 3D impulse data.\n\n" \ |
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":param model: 3D impulse model\n" \ |
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":param data: Pinocchio data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ImpulseData3DVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeImpulse3D() { |
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CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS(double) |
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CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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