| 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 float | ||
| 11 | #include "crocoddyl/multibody/impulses/impulse-3d.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ImpulseModel3DVisitor | ||
| 20 | : public bp::def_visitor<ImpulseModel3DVisitor<Model>> { | ||
| 21 | template <class PyClass> | ||
| 22 | ✗ | void visit(PyClass& cl) const { | |
| 23 | ✗ | cl.def("calc", &Model::calc, bp::args("self", "data", "x"), | |
| 24 | "Compute the 3D impulse Jacobian and drift.\n\n" | ||
| 25 | "The rigid impulse model throught acceleration-base holonomic " | ||
| 26 | "constraint of the impulse frame placement.\n" | ||
| 27 | ":param data: impulse data\n" | ||
| 28 | ":param x: state point (dim. state.nx)") | ||
| 29 | ✗ | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), | |
| 30 | "Compute the derivatives of the 3D impulse holonomic " | ||
| 31 | "constraint.\n\n" | ||
| 32 | "The rigid impulse model throught acceleration-base holonomic " | ||
| 33 | "constraint of the impulse frame placement. It assumes that calc " | ||
| 34 | "has been run first.\n" | ||
| 35 | ":param data: cost data\n" | ||
| 36 | ":param x: state point (dim. state.nx)") | ||
| 37 | ✗ | .def("updateForce", &Model::updateForce, | |
| 38 | bp::args("self", "data", "force"), | ||
| 39 | "Convert the force into a stack of spatial forces.\n\n" | ||
| 40 | ":param data: cost data\n" | ||
| 41 | ":param force: force vector (dimension 3)") | ||
| 42 | ✗ | .def("createData", &Model::createData, | |
| 43 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 44 | bp::args("self", "data"), | ||
| 45 | "Create the 3D impulse data.\n\n" | ||
| 46 | "Each impulse model has its own data that needs to be allocated. " | ||
| 47 | "This function returns the allocated data for a predefined cost.\n" | ||
| 48 | ":param data: Pinocchio data\n" | ||
| 49 | ":return impulse data."); | ||
| 50 | ✗ | } | |
| 51 | }; | ||
| 52 | |||
| 53 | template <typename Data> | ||
| 54 | struct ImpulseData3DVisitor | ||
| 55 | : public bp::def_visitor<ImpulseData3DVisitor<Data>> { | ||
| 56 | template <class PyClass> | ||
| 57 | ✗ | void visit(PyClass& cl) const { | |
| 58 | ✗ | cl.add_property( | |
| 59 | "f_local", | ||
| 60 | ✗ | bp::make_getter(&Data::f_local, bp::return_internal_reference<>()), | |
| 61 | ✗ | bp::make_setter(&Data::f_local), | |
| 62 | "spatial contact force in local coordinates") | ||
| 63 | ✗ | .add_property("dv0_local_dq", | |
| 64 | ✗ | bp::make_getter(&Data::dv0_local_dq, | |
| 65 | ✗ | bp::return_internal_reference<>()), | |
| 66 | ✗ | bp::make_setter(&Data::dv0_local_dq), | |
| 67 | "Jacobian of the desired local contact velocity") | ||
| 68 | ✗ | .add_property( | |
| 69 | "fJf", | ||
| 70 | ✗ | bp::make_getter(&Data::fJf, bp::return_internal_reference<>()), | |
| 71 | "local Jacobian of the impulse frame") | ||
| 72 | ✗ | .add_property("v_partial_dq", | |
| 73 | ✗ | bp::make_getter(&Data::v_partial_dq, | |
| 74 | ✗ | bp::return_internal_reference<>()), | |
| 75 | "Jacobian of the spatial body velocity") | ||
| 76 | ✗ | .add_property("v_partial_dv", | |
| 77 | ✗ | bp::make_getter(&Data::v_partial_dv, | |
| 78 | ✗ | bp::return_internal_reference<>()), | |
| 79 | "Jacobian of the spatial body velocity"); | ||
| 80 | ✗ | } | |
| 81 | }; | ||
| 82 | |||
| 83 | #define CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS(Scalar) \ | ||
| 84 | typedef ImpulseModel3DTpl<Scalar> Model; \ | ||
| 85 | typedef ImpulseModelAbstractTpl<Scalar> ModelBase; \ | ||
| 86 | typedef Model::StateMultibody State; \ | ||
| 87 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 88 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 89 | "ImpulseModel3D", \ | ||
| 90 | "Rigid 3D impulse model.\n\n" \ | ||
| 91 | "It defines a rigid 3D impulse models (point impulse) based on " \ | ||
| 92 | "acceleration-based holonomic constraints. The calc and calcDiff " \ | ||
| 93 | "functions compute the impulse Jacobian and drift (holonomic " \ | ||
| 94 | "constraint) or the derivatives of the holonomic constraint, " \ | ||
| 95 | "respectively.", \ | ||
| 96 | bp::init<std::shared_ptr<State>, std::size_t, \ | ||
| 97 | bp::optional<pinocchio::ReferenceFrame>>( \ | ||
| 98 | bp::args("self", "state", "frame", "type"), \ | ||
| 99 | "Initialize the 3D impulse model.\n\n" \ | ||
| 100 | ":param state: state of the multibody system\n" \ | ||
| 101 | ":param type: type of impulse (default pinocchio.LOCAL)\n" \ | ||
| 102 | ":param frame: reference frame id")) \ | ||
| 103 | .def(ImpulseModel3DVisitor<Model>()) \ | ||
| 104 | .def(CastVisitor<Model>()) \ | ||
| 105 | .def(PrintableVisitor<Model>()) \ | ||
| 106 | .def(CopyableVisitor<Model>()); | ||
| 107 | |||
| 108 | #define CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS(Scalar) \ | ||
| 109 | typedef ImpulseData3DTpl<Scalar> Data; \ | ||
| 110 | typedef ImpulseDataAbstractTpl<Scalar> DataBase; \ | ||
| 111 | typedef ImpulseModel3DTpl<Scalar> Model; \ | ||
| 112 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 113 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 114 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 115 | "ImpulseData3D", "Data for 3D impulse.\n\n", \ | ||
| 116 | bp::init<Model*, PinocchioData*>( \ | ||
| 117 | bp::args("self", "model", "data"), \ | ||
| 118 | "Create 3D impulse data.\n\n" \ | ||
| 119 | ":param model: 3D impulse model\n" \ | ||
| 120 | ":param data: Pinocchio data")[bp::with_custodian_and_ward< \ | ||
| 121 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 122 | .def(ImpulseData3DVisitor<Data>()) \ | ||
| 123 | .def(CopyableVisitor<Data>()); | ||
| 124 | |||
| 125 | ✗ | void exposeImpulse3D() { | |
| 126 | ✗ | CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS(float) | |
| 127 | ✗ | CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS(float) | |
| 128 | ✗ | } | |
| 129 | |||
| 130 | } // namespace python | ||
| 131 | } // namespace crocoddyl | ||
| 132 |