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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, 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/residuals/impulse-com.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 ResidualModelImpulseCoMVisitor |
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: public bp::def_visitor<ResidualModelImpulseCoMVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the CoM position residual.\n\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def( |
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"calc", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calc), |
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bp::args("self", "data", "x")) |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the CoM position residual for impulse " |
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"dynamics.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)") |
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.def( |
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"calcDiff", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calcDiff), |
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bp::args("self", "data", "x")) |
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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 CoM position residual data.\n\n" |
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"Each residual model has its own data that needs to be allocated. " |
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"This function returns the allocated data for the impulse CoM " |
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"residual.\n" |
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":param data: shared data\n" |
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":return residual data."); |
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} |
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}; |
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template <typename Data> |
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struct ResidualDataImpulseCoMVisitor |
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: public bp::def_visitor<ResidualDataImpulseCoMVisitor<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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"pinocchio", |
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bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
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"pinocchio data") |
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.add_property( |
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"impulses", |
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bp::make_getter(&Data::impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::impulses), |
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"impulses data associated with the current residual") |
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.add_property( |
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"dvc_dq", |
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bp::make_getter(&Data::dvc_dq, bp::return_internal_reference<>()), |
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"Jacobian of the CoM velocity") |
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.add_property( |
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"ddv_dv", |
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bp::make_getter(&Data::ddv_dv, bp::return_internal_reference<>()), |
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"Jacobian of the impulse velocity") |
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.add_property("pinocchio_internal", |
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bp::make_getter(&Data::pinocchio_internal, |
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bp::return_internal_reference<>()), |
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"internal pinocchio data used for extra computations"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_IMPULSE_COM_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelImpulseCoMTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename 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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"ResidualModelImpulseCoM", \ |
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"This residual function defines a residual vector as r = Jcom * " \ |
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"(vnext-v), with Jcom as the CoM Jacobian, and vnext the velocity " \ |
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"after impact and v the velocity before impact, respectively.", \ |
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bp::init<std::shared_ptr<State>>( \ |
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bp::args("self", "state"), \ |
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"Initialize the CoM position cost model for impulse dynamics.\n\n" \ |
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"The default nu is obtained from state.nv.\n" \ |
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":param state: state of the multibody system")) \ |
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.def(ResidualModelImpulseCoMVisitor<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_RESIDUAL_DATA_IMPULSE_COM_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualDataImpulseCoMTpl<Scalar> Data; \ |
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typedef ResidualDataAbstractTpl<Scalar> DataBase; \ |
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typedef ResidualModelImpulseCoMTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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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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"ResidualDataImpulseCoM", "Data for impulse CoM residual.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create contact force residual data.\n\n" \ |
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":param model: impulse CoM residual model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ResidualDataImpulseCoMVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeResidualImpulseCoM() { |
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CROCODDYL_RESIDUAL_MODEL_IMPULSE_COM_PYTHON_BINDINGS(double) |
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CROCODDYL_RESIDUAL_DATA_IMPULSE_COM_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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