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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-6d.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 ImpulseModel6DVisitor |
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: public bp::def_visitor<ImpulseModel6DVisitor<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 6D impulse Jacobian and drift.\n\n" |
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"The rigid impulse model throught acceleration-base holonomic " |
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"constraint\n" |
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"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 6D 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\n" |
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"of the impulse frame placement.\n" |
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"It assumes that calc 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 lambda: force vector (dimension 6)") |
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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 6D 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\n" |
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"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 ImpulseData6DVisitor |
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: public bp::def_visitor<ImpulseData6DVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.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_6D_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseModel6DTpl<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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"ImpulseModel6D", \ |
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"Rigid 6D impulse model.\n\n" \ |
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"It defines a rigid 6D impulse models based on acceleration-based " \ |
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"holonomic constraints. The calc and calcDiff functions compute the " \ |
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"impulse Jacobian and drift (holonomic constraint) or the derivatives " \ |
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"of the holonomic constraint, 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 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\n" \ |
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":param frame: reference frame id")) \ |
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.def(ImpulseModel6DVisitor<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_6D_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseData6DTpl<Scalar> Data; \ |
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typedef ImpulseDataAbstractTpl<Scalar> DataBase; \ |
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typedef ImpulseModel6DTpl<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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"ImpulseData6D", "Data for 6D 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 6D impulse data.\n\n" \ |
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":param model: 6D 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(ImpulseData6DVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeImpulse6D() { |
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CROCODDYL_IMPULSE_MODEL_6D_PYTHON_BINDINGS(double) |
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CROCODDYL_IMPULSE_DATA_6D_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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