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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 "python/crocoddyl/multibody/impulse-base.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "python/crocoddyl/utils/deprecate.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 ImpulseModelAbstractVisitor |
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: public bp::def_visitor<ImpulseModelAbstractVisitor<Model>> { |
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typedef typename Model::StateMultibody State; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<std::shared_ptr<State>, std::size_t>( |
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bp::args("self", "state", "nc"), |
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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 nc: dimension of impulse model")) |
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.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "x"), |
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"Compute the impulse Jacobian\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", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of impulse Jacobian\n" |
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"It assumes that calc has been run first.\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("updateForce", pure_virtual(&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: impulse data\n" |
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":param force: force vector (dimension nc)") |
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.def("updateForceDiff", &Model::updateForceDiff, |
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bp::args("self", "data", "df_dx"), |
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"Update the Jacobian of the impulse force.\n\n" |
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":param data: impulse data\n" |
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":param df_dx: Jacobian of the impulse force (dimension nc*ndx)") |
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.def("setZeroForce", &Model::setZeroForce, bp::args("self", "data"), |
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"Set zero the spatial force.\n\n" |
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":param data: contact data") |
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.def("setZeroForceDiff", &Model::setZeroForceDiff, |
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bp::args("self", "data"), |
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"Set zero the derivatives of the spatial force.\n\n" |
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":param data: contact data") |
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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 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 impulse.\n" |
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":param data: Pinocchio data\n" |
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":return impulse data.") |
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.def("createData", &Model::default_createData, |
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bp::with_custodian_and_ward_postcall<0, 2>()) |
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.add_property( |
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"state", |
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bp::make_function(&Model::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state of the multibody system") |
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.add_property("ni", |
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bp::make_function(&Model::get_nc, |
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deprecated<>("Deprecated. Use nc")), |
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"dimension of impulse") |
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.add_property("nc", bp::make_function(&Model::get_nc), |
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"dimension of impulse") |
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.add_property("id", &Model::get_id, &Model::set_id, |
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"reference frame id") |
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.add_property("type", bp::make_function(&Model::get_type), |
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&Model::set_type, "type of impulse"); |
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} |
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}; |
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template <typename Data> |
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struct ImpulseDataAbstractVisitor |
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: public bp::def_visitor<ImpulseDataAbstractVisitor<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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"fXj", bp::make_getter(&Data::fXj, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::fXj), |
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"action matrix from contact to local frames") |
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.add_property( |
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"dv0_dq", |
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bp::make_getter(&Data::dv0_dq, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dv0_dq), |
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"Jacobian of the previous impulse velocity") |
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.add_property( |
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"dtau_dq", |
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bp::make_getter(&Data::dtau_dq, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_dq), "force contribution to dtau_dq"); |
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} |
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}; |
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#define CROCODDYL_IMPULSE_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseModelAbstractTpl<Scalar> Model; \ |
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typedef ImpulseModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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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_wrap, boost::noncopyable>( \ |
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"ImpulseModelAbstract", \ |
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"Abstract impulse model.\n\n" \ |
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"It defines a template for impulse models.\n" \ |
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"The calc and calcDiff functions compute the impulse Jacobian the " \ |
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"derivatives respectively.", \ |
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bp::init<std::shared_ptr<State>, pinocchio::ReferenceFrame, \ |
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std::size_t>(bp::args("self", "state", "type", "nc"), \ |
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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 nc: dimension of impulse model")) \ |
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.def(ImpulseModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_IMPULSE_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ImpulseDataAbstractTpl<Scalar> Data; \ |
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typedef ImpulseModelAbstractTpl<Scalar> Model; \ |
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typedef ForceDataAbstractTpl<Scalar> ForceData; \ |
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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<ForceData>>( \ |
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"ImpulseDataAbstract", "Abstract class for impulse data.\n\n", \ |
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bp::init<Model*, PinocchioData*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between impulse models.\n\n" \ |
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":param model: impulse model\n" \ |
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":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 3>()]) \ |
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.def(ImpulseDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeImpulseAbstract() { |
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CROCODDYL_IMPULSE_MODEL_ABSTRACT_PYTHON_BINDINGS(double) |
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CROCODDYL_IMPULSE_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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