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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, 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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#ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |
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#include "crocoddyl/core/utils/exception.hpp" |
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#include "crocoddyl/multibody/impulse-base.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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class ImpulseModelAbstract_wrap : public ImpulseModelAbstract, |
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public bp::wrapper<ImpulseModelAbstract> { |
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public: |
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ImpulseModelAbstract_wrap(std::shared_ptr<StateMultibody> state, |
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const pinocchio::ReferenceFrame type, |
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std::size_t nc) |
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: ImpulseModelAbstract(state, type, nc) {} |
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ImpulseModelAbstract_wrap(std::shared_ptr<StateMultibody> state, |
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std::size_t nc) |
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: ImpulseModelAbstract(state, pinocchio::ReferenceFrame::LOCAL, nc) { |
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std::cerr << "Deprecated: Use constructor that passes the type of contact, " |
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"this assumes is pinocchio::LOCAL." |
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<< std::endl; |
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} |
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void calc(const std::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x) { |
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assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
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"x has wrong dimension"); |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(Eigen::VectorXd)x); |
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} |
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void calcDiff(const std::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x) { |
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assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), |
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"x has wrong dimension"); |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(Eigen::VectorXd)x); |
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} |
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void updateForce(const std::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::VectorXd& force) { |
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assert_pretty(static_cast<std::size_t>(force.size()) == nc_, |
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"force has wrong dimension"); |
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return bp::call<void>(this->get_override("updateForce").ptr(), data, force); |
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} |
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std::shared_ptr<ImpulseDataAbstract> createData( |
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pinocchio::DataTpl<Scalar>* const data) { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ImpulseDataAbstract> >(createData.ptr(), |
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boost::ref(data)); |
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} |
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return ImpulseModelAbstract::createData(data); |
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} |
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std::shared_ptr<ImpulseDataAbstract> default_createData( |
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pinocchio::DataTpl<Scalar>* const data) { |
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return this->ImpulseModelAbstract::createData(data); |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |
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