| 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 "python/crocoddyl/multibody/impulse-base.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | #include "python/crocoddyl/utils/deprecate.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct ImpulseModelAbstractVisitor | ||
| 21 | : public bp::def_visitor<ImpulseModelAbstractVisitor<Model>> { | ||
| 22 | typedef typename Model::StateMultibody State; | ||
| 23 | template <class PyClass> | ||
| 24 | ✗ | void visit(PyClass& cl) const { | |
| 25 | ✗ | cl.def(bp::init<std::shared_ptr<State>, std::size_t>( | |
| 26 | bp::args("self", "state", "nc"), | ||
| 27 | "Initialize the impulse model.\n\n" | ||
| 28 | ":param state: state of the multibody system\n" | ||
| 29 | ":param nc: dimension of impulse model")) | ||
| 30 | ✗ | .def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "x"), | |
| 31 | "Compute the impulse Jacobian\n" | ||
| 32 | ":param data: impulse data\n" | ||
| 33 | ":param x: state point (dim. state.nx)") | ||
| 34 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 35 | bp::args("self", "data", "x"), | ||
| 36 | "Compute the derivatives of impulse Jacobian\n" | ||
| 37 | "It assumes that calc has been run first.\n" | ||
| 38 | ":param data: impulse data\n" | ||
| 39 | ":param x: state point (dim. state.nx)") | ||
| 40 | ✗ | .def("updateForce", pure_virtual(&Model::updateForce), | |
| 41 | bp::args("self", "data", "force"), | ||
| 42 | "Convert the force into a stack of spatial forces.\n\n" | ||
| 43 | ":param data: impulse data\n" | ||
| 44 | ":param force: force vector (dimension nc)") | ||
| 45 | ✗ | .def("updateForceDiff", &Model::updateForceDiff, | |
| 46 | bp::args("self", "data", "df_dx"), | ||
| 47 | "Update the Jacobian of the impulse force.\n\n" | ||
| 48 | ":param data: impulse data\n" | ||
| 49 | ":param df_dx: Jacobian of the impulse force (dimension nc*ndx)") | ||
| 50 | ✗ | .def("setZeroForce", &Model::setZeroForce, bp::args("self", "data"), | |
| 51 | "Set zero the spatial force.\n\n" | ||
| 52 | ":param data: contact data") | ||
| 53 | ✗ | .def("setZeroForceDiff", &Model::setZeroForceDiff, | |
| 54 | bp::args("self", "data"), | ||
| 55 | "Set zero the derivatives of the spatial force.\n\n" | ||
| 56 | ":param data: contact data") | ||
| 57 | ✗ | .def("createData", &Model::createData, | |
| 58 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 59 | bp::args("self", "data"), | ||
| 60 | "Create the impulse data.\n\n" | ||
| 61 | "Each impulse model has its own data that needs to be allocated. " | ||
| 62 | "This function\n" | ||
| 63 | "returns the allocated data for a predefined impulse.\n" | ||
| 64 | ":param data: Pinocchio data\n" | ||
| 65 | ":return impulse data.") | ||
| 66 | ✗ | .def("createData", &Model::default_createData, | |
| 67 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>()) | |
| 68 | ✗ | .add_property( | |
| 69 | "state", | ||
| 70 | bp::make_function(&Model::get_state, | ||
| 71 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 72 | "state of the multibody system") | ||
| 73 | ✗ | .add_property("ni", | |
| 74 | bp::make_function(&Model::get_nc, | ||
| 75 | ✗ | deprecated<>("Deprecated. Use nc")), | |
| 76 | "dimension of impulse") | ||
| 77 | ✗ | .add_property("nc", bp::make_function(&Model::get_nc), | |
| 78 | "dimension of impulse") | ||
| 79 | ✗ | .add_property("id", &Model::get_id, &Model::set_id, | |
| 80 | "reference frame id") | ||
| 81 | ✗ | .add_property("type", bp::make_function(&Model::get_type), | |
| 82 | &Model::set_type, "type of impulse"); | ||
| 83 | ✗ | } | |
| 84 | }; | ||
| 85 | |||
| 86 | template <typename Data> | ||
| 87 | struct ImpulseDataAbstractVisitor | ||
| 88 | : public bp::def_visitor<ImpulseDataAbstractVisitor<Data>> { | ||
| 89 | template <class PyClass> | ||
| 90 | ✗ | void visit(PyClass& cl) const { | |
| 91 | ✗ | cl.add_property( | |
| 92 | ✗ | "fXj", bp::make_getter(&Data::fXj, bp::return_internal_reference<>()), | |
| 93 | ✗ | bp::make_setter(&Data::fXj), | |
| 94 | "action matrix from contact to local frames") | ||
| 95 | ✗ | .add_property( | |
| 96 | "dv0_dq", | ||
| 97 | ✗ | bp::make_getter(&Data::dv0_dq, bp::return_internal_reference<>()), | |
| 98 | ✗ | bp::make_setter(&Data::dv0_dq), | |
| 99 | "Jacobian of the previous impulse velocity") | ||
| 100 | ✗ | .add_property( | |
| 101 | "dtau_dq", | ||
| 102 | ✗ | bp::make_getter(&Data::dtau_dq, bp::return_internal_reference<>()), | |
| 103 | ✗ | bp::make_setter(&Data::dtau_dq), "force contribution to dtau_dq"); | |
| 104 | ✗ | } | |
| 105 | }; | ||
| 106 | |||
| 107 | #define CROCODDYL_IMPULSE_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 108 | typedef ImpulseModelAbstractTpl<Scalar> Model; \ | ||
| 109 | typedef ImpulseModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 110 | typedef Model::StateMultibody State; \ | ||
| 111 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 112 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 113 | "ImpulseModelAbstract", \ | ||
| 114 | "Abstract impulse model.\n\n" \ | ||
| 115 | "It defines a template for impulse models.\n" \ | ||
| 116 | "The calc and calcDiff functions compute the impulse Jacobian the " \ | ||
| 117 | "derivatives respectively.", \ | ||
| 118 | bp::init<std::shared_ptr<State>, pinocchio::ReferenceFrame, \ | ||
| 119 | std::size_t>(bp::args("self", "state", "type", "nc"), \ | ||
| 120 | "Initialize the impulse model.\n\n" \ | ||
| 121 | ":param state: state of the multibody system\n" \ | ||
| 122 | ":param type: type of impulse\n" \ | ||
| 123 | ":param nc: dimension of impulse model")) \ | ||
| 124 | .def(ImpulseModelAbstractVisitor<Model_wrap>()) \ | ||
| 125 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 126 | .def(CopyableVisitor<Model_wrap>()); | ||
| 127 | |||
| 128 | #define CROCODDYL_IMPULSE_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 129 | typedef ImpulseDataAbstractTpl<Scalar> Data; \ | ||
| 130 | typedef ImpulseModelAbstractTpl<Scalar> Model; \ | ||
| 131 | typedef ForceDataAbstractTpl<Scalar> ForceData; \ | ||
| 132 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 133 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 134 | bp::class_<Data, bp::bases<ForceData>>( \ | ||
| 135 | "ImpulseDataAbstract", "Abstract class for impulse data.\n\n", \ | ||
| 136 | bp::init<Model*, PinocchioData*>( \ | ||
| 137 | bp::args("self", "model", "data"), \ | ||
| 138 | "Create common data shared between impulse models.\n\n" \ | ||
| 139 | ":param model: impulse model\n" \ | ||
| 140 | ":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 3>()]) \ | ||
| 141 | .def(ImpulseDataAbstractVisitor<Data>()) \ | ||
| 142 | .def(CopyableVisitor<Data>()); | ||
| 143 | |||
| 144 | ✗ | void exposeImpulseAbstract() { | |
| 145 | ✗ | CROCODDYL_IMPULSE_MODEL_ABSTRACT_PYTHON_BINDINGS(float) | |
| 146 | ✗ | CROCODDYL_IMPULSE_DATA_ABSTRACT_PYTHON_BINDINGS(float) | |
| 147 | ✗ | } | |
| 148 | |||
| 149 | } // namespace python | ||
| 150 | } // namespace crocoddyl | ||
| 151 |