| 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 | #ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | class ImpulseModelAbstractTpl_wrap | ||
| 21 | : public ImpulseModelAbstractTpl<Scalar>, | ||
| 22 | public bp::wrapper<ImpulseModelAbstractTpl<Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(ImpulseModelBase, ImpulseModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef typename crocoddyl::ImpulseModelAbstractTpl<Scalar> ImpulseModel; | ||
| 28 | typedef typename crocoddyl::ImpulseDataAbstractTpl<Scalar> ImpulseData; | ||
| 29 | typedef typename ImpulseModel::VectorXs VectorXs; | ||
| 30 | typedef typename ImpulseModel::StateMultibody State; | ||
| 31 | using ImpulseModel::nc_; | ||
| 32 | using ImpulseModel::state_; | ||
| 33 | using ImpulseModel::type_; | ||
| 34 | |||
| 35 | ✗ | ImpulseModelAbstractTpl_wrap(std::shared_ptr<State> state, | |
| 36 | const pinocchio::ReferenceFrame type, | ||
| 37 | std::size_t nc) | ||
| 38 | ✗ | : ImpulseModel(state, type, nc) {} | |
| 39 | |||
| 40 | ✗ | ImpulseModelAbstractTpl_wrap(std::shared_ptr<State> state, std::size_t nc) | |
| 41 | ✗ | : ImpulseModel(state, pinocchio::ReferenceFrame::LOCAL, nc) { | |
| 42 | ✗ | std::cerr << "Deprecated: Use constructor that passes the type of contact, " | |
| 43 | "this assumes is pinocchio::LOCAL." | ||
| 44 | ✗ | << std::endl; | |
| 45 | ✗ | } | |
| 46 | |||
| 47 | ✗ | void calc(const std::shared_ptr<ImpulseData>& data, | |
| 48 | const Eigen::Ref<const VectorXs>& x) override { | ||
| 49 | ✗ | assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), | |
| 50 | "x has wrong dimension"); | ||
| 51 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x); | |
| 52 | } | ||
| 53 | |||
| 54 | ✗ | void calcDiff(const std::shared_ptr<ImpulseData>& data, | |
| 55 | const Eigen::Ref<const VectorXs>& x) override { | ||
| 56 | ✗ | assert_pretty(static_cast<std::size_t>(x.size()) == state_->get_nx(), | |
| 57 | "x has wrong dimension"); | ||
| 58 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 59 | ✗ | (VectorXs)x); | |
| 60 | } | ||
| 61 | |||
| 62 | ✗ | void updateForce(const std::shared_ptr<ImpulseData>& data, | |
| 63 | const VectorXs& force) override { | ||
| 64 | ✗ | assert_pretty(static_cast<std::size_t>(force.size()) == nc_, | |
| 65 | "force has wrong dimension"); | ||
| 66 | ✗ | return bp::call<void>(this->get_override("updateForce").ptr(), data, force); | |
| 67 | } | ||
| 68 | |||
| 69 | ✗ | std::shared_ptr<ImpulseData> createData( | |
| 70 | pinocchio::DataTpl<Scalar>* const data) override { | ||
| 71 | ✗ | enableMultithreading() = false; | |
| 72 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 73 | return bp::call<std::shared_ptr<ImpulseData>>(createData.ptr(), | ||
| 74 | ✗ | boost::ref(data)); | |
| 75 | } | ||
| 76 | ✗ | return ImpulseModel::createData(data); | |
| 77 | } | ||
| 78 | |||
| 79 | ✗ | std::shared_ptr<ImpulseData> default_createData( | |
| 80 | pinocchio::DataTpl<Scalar>* const data) { | ||
| 81 | ✗ | return this->ImpulseModel::createData(data); | |
| 82 | } | ||
| 83 | |||
| 84 | template <typename NewScalar> | ||
| 85 | ✗ | ImpulseModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 86 | typedef ImpulseModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 87 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 88 | ✗ | ReturnType ret( | |
| 89 | ✗ | std::make_shared<StateType>(state_->template cast<NewScalar>()), type_, | |
| 90 | ✗ | nc_); | |
| 91 | ✗ | return ret; | |
| 92 | } | ||
| 93 | }; | ||
| 94 | |||
| 95 | } // namespace python | ||
| 96 | } // namespace crocoddyl | ||
| 97 | |||
| 98 | #endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 99 |