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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, 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 "crocoddyl/multibody/actions/impulse-fwddyn.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/action-base.hpp" | ||
| 14 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct ActionModelImpulseFwdDynamicsVisitor | ||
| 21 | : public bp::def_visitor<ActionModelImpulseFwdDynamicsVisitor<Model>> { | ||
| 22 | typedef typename Model::Scalar Scalar; | ||
| 23 | typedef typename Model::ActionDataAbstract Data; | ||
| 24 | typedef typename Model::StateMultibody State; | ||
| 25 | typedef typename Model::ImpulseModelMultiple Impulses; | ||
| 26 | typedef typename Model::CostModelSum Costs; | ||
| 27 | typedef typename Model::ConstraintModelManager Constraints; | ||
| 28 | typedef typename Model::VectorXs VectorXs; | ||
| 29 | template <class PyClass> | ||
| 30 | ✗ | void visit(PyClass& cl) const { | |
| 31 | ✗ | cl.def(bp::init<std::shared_ptr<State>, std::shared_ptr<Impulses>, | |
| 32 | std::shared_ptr<Costs>, std::shared_ptr<Constraints>, | ||
| 33 | bp::optional<Scalar, Scalar, bool>>( | ||
| 34 | bp::args("self", "state", "impulses", "costs", "constraints", | ||
| 35 | "r_coeff", "inv_damping", "enable_force"), | ||
| 36 | "Initialize the constrained forward-dynamics action model.\n\n" | ||
| 37 | "The damping factor is needed when the contact Jacobian is not " | ||
| 38 | "full-rank. Otherwise, a good damping factor could be 1e-12. In " | ||
| 39 | "addition, if you have cost based on forces, you need to enable " | ||
| 40 | "the computation of the force Jacobians (i.e., " | ||
| 41 | "enable_force=True).\n" | ||
| 42 | ":param state: multibody state\n" | ||
| 43 | ":param impulses: multiple impulse model\n" | ||
| 44 | ":param costs: stack of cost functions\n" | ||
| 45 | ":param constraints: stack of constraint functions\n" | ||
| 46 | ":param r_coeff: restitution coefficient (default 0.)\n" | ||
| 47 | ":param inv_damping: Damping factor for cholesky decomposition " | ||
| 48 | "of JMinvJt (default 0.)\n" | ||
| 49 | ":param enable_force: Enable the computation of force Jacobians " | ||
| 50 | "(default False)")) | ||
| 51 | ✗ | .def( | |
| 52 | "calc", | ||
| 53 | static_cast<void (Model::*)( | ||
| 54 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 55 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 56 | bp::args("self", "data", "x", "u"), | ||
| 57 | "Compute the next state and cost value.\n\n" | ||
| 58 | "It describes the time-continuous evolution of the multibody " | ||
| 59 | "system with impulse. The impulses are modelled as holonomic " | ||
| 60 | "constraints. Additionally it computes the cost value associated " | ||
| 61 | "to this state and control pair.\n" | ||
| 62 | ":param data: impulse forward-dynamics action data\n" | ||
| 63 | ":param x: time-continuous state vector\n" | ||
| 64 | ":param u: time-continuous control input") | ||
| 65 | ✗ | .def("calc", | |
| 66 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 67 | const Eigen::Ref<const VectorXs>&)>( | ||
| 68 | &Model::calc), | ||
| 69 | bp::args("self", "data", "x")) | ||
| 70 | ✗ | .def( | |
| 71 | "calcDiff", | ||
| 72 | static_cast<void (Model::*)( | ||
| 73 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 74 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 75 | bp::args("self", "data", "x", "u"), | ||
| 76 | "Compute the derivatives of the differential multibody system and " | ||
| 77 | "its cost functions.\n\n" | ||
| 78 | "It computes the partial derivatives of the differential multibody " | ||
| 79 | "system and the cost function. It assumes that calc has been run " | ||
| 80 | "first. This function builds a quadratic approximation of the " | ||
| 81 | "action model (i.e. dynamical system and cost function).\n" | ||
| 82 | ":param data: impulse forward-dynamics action data\n" | ||
| 83 | ":param x: time-continuous state vector\n" | ||
| 84 | ":param u: time-continuous control input\n" | ||
| 85 | "") | ||
| 86 | ✗ | .def("calcDiff", | |
| 87 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 88 | const Eigen::Ref<const VectorXs>&)>( | ||
| 89 | &Model::calcDiff), | ||
| 90 | bp::args("self", "data", "x")) | ||
| 91 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 92 | "Create the impulse forward dynamics differential action data.") | ||
| 93 | ✗ | .add_property( | |
| 94 | "ng", bp::make_function(&Model::get_ng), "number of equality constraints") | ||
| 95 | ✗ | .add_property( | |
| 96 | "nh", bp::make_function(&Model::get_nh), "number of inequality constraints") | ||
| 97 | ✗ | .add_property( | |
| 98 | "ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") | ||
| 99 | ✗ | .add_property( | |
| 100 | "nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints") | ||
| 101 | ✗ | .add_property("pinocchio", | |
| 102 | bp::make_function(&Model::get_pinocchio, | ||
| 103 | ✗ | bp::return_internal_reference<>()), | |
| 104 | "multibody model (i.e. pinocchio model)") | ||
| 105 | ✗ | .add_property( | |
| 106 | "impulses", | ||
| 107 | bp::make_function(&Model::get_impulses, | ||
| 108 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 109 | "multiple contact model") | ||
| 110 | ✗ | .add_property( | |
| 111 | "costs", | ||
| 112 | bp::make_function(&Model::get_costs, | ||
| 113 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 114 | "total cost model") | ||
| 115 | ✗ | .add_property( | |
| 116 | "constraints", | ||
| 117 | bp::make_function(&Model::get_constraints, | ||
| 118 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 119 | "constraint model manager") | ||
| 120 | ✗ | .add_property("armature", | |
| 121 | bp::make_function(&Model::get_armature, | ||
| 122 | ✗ | bp::return_internal_reference<>()), | |
| 123 | bp::make_function(&Model::set_armature), | ||
| 124 | "set an armature mechanism in the joints") | ||
| 125 | ✗ | .add_property("r_coeff", | |
| 126 | bp::make_function(&Model::get_restitution_coefficient), | ||
| 127 | bp::make_function(&Model::set_restitution_coefficient), | ||
| 128 | "Restitution coefficient that describes elastic impacts") | ||
| 129 | ✗ | .add_property("JMinvJt_damping", | |
| 130 | bp::make_function(&Model::get_damping_factor), | ||
| 131 | bp::make_function(&Model::set_damping_factor), | ||
| 132 | "Damping factor for cholesky decomposition of JMinvJt"); | ||
| 133 | ✗ | } | |
| 134 | }; | ||
| 135 | |||
| 136 | template <typename Data> | ||
| 137 | struct ActionDataImpulseFwdDynamicsVisitor | ||
| 138 | : public bp::def_visitor<ActionDataImpulseFwdDynamicsVisitor<Data>> { | ||
| 139 | template <class PyClass> | ||
| 140 | ✗ | void visit(PyClass& cl) const { | |
| 141 | ✗ | cl.add_property( | |
| 142 | "pinocchio", | ||
| 143 | ✗ | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 144 | "pinocchio data") | ||
| 145 | ✗ | .add_property("multibody", | |
| 146 | ✗ | bp::make_getter(&Data::multibody, | |
| 147 | ✗ | bp::return_internal_reference<>()), | |
| 148 | "multibody data") | ||
| 149 | ✗ | .add_property( | |
| 150 | "costs", | ||
| 151 | ✗ | bp::make_getter(&Data::costs, | |
| 152 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 153 | "total cost data") | ||
| 154 | ✗ | .add_property( | |
| 155 | "constraints", | ||
| 156 | ✗ | bp::make_getter(&Data::constraints, | |
| 157 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 158 | "constraint data") | ||
| 159 | ✗ | .add_property( | |
| 160 | "Kinv", | ||
| 161 | ✗ | bp::make_getter(&Data::Kinv, bp::return_internal_reference<>()), | |
| 162 | "inverse of the KKT matrix") | ||
| 163 | ✗ | .add_property( | |
| 164 | "df_dx", | ||
| 165 | ✗ | bp::make_getter(&Data::df_dx, bp::return_internal_reference<>()), | |
| 166 | "Jacobian of the contact impulse"); | ||
| 167 | ✗ | } | |
| 168 | }; | ||
| 169 | |||
| 170 | #define CROCODDYL_ACTION_MODEL_IMPULSE_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 171 | typedef ActionModelImpulseFwdDynamicsTpl<Scalar> Model; \ | ||
| 172 | typedef ActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 173 | typedef typename Model::StateMultibody State; \ | ||
| 174 | typedef typename Model::ImpulseModelMultiple Impulses; \ | ||
| 175 | typedef typename Model::CostModelSum Costs; \ | ||
| 176 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 177 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 178 | "ActionModelImpulseFwdDynamics", \ | ||
| 179 | "Action model for impulse forward dynamics in multibody systems.\n\n" \ | ||
| 180 | "The impulse is modelled as holonomic constraits in the contact frame. " \ | ||
| 181 | "There is also a custom implementation in case of system with " \ | ||
| 182 | "armatures. If you want to include the armature, you need to use " \ | ||
| 183 | "set_armature(). On the other hand, the stack of cost functions are " \ | ||
| 184 | "implemented in CostModelSum().", \ | ||
| 185 | bp::init<std::shared_ptr<State>, std::shared_ptr<Impulses>, \ | ||
| 186 | std::shared_ptr<Costs>, bp::optional<Scalar, Scalar, bool>>( \ | ||
| 187 | bp::args("self", "state", " impulses", "costs", "r_coeff", \ | ||
| 188 | "inv_damping", "enable_force"), \ | ||
| 189 | "Initialize the impulse forward-dynamics action model.\n\n" \ | ||
| 190 | "The damping factor is needed when the contact Jacobian is not " \ | ||
| 191 | "full-rank. Otherwise, a good damping factor could be 1e-12. In " \ | ||
| 192 | "addition, if you have cost based on forces, you need to enable " \ | ||
| 193 | "the computation of the force Jacobians (i.e., " \ | ||
| 194 | "enable_force=True).\n" \ | ||
| 195 | ":param state: multibody state\n" \ | ||
| 196 | ":param impulses: multiple impulse model\n" \ | ||
| 197 | ":param costs: stack of cost functions\n" \ | ||
| 198 | ":param r_coeff: restitution coefficient (default 0.)\n" \ | ||
| 199 | ":param inv_damping: Damping factor for cholesky decomposition of " \ | ||
| 200 | "JMinvJt (default 0.)\n" \ | ||
| 201 | ":param enable_force: Enable the computation of force Jacobians " \ | ||
| 202 | "(default False)")) \ | ||
| 203 | .def(ActionModelImpulseFwdDynamicsVisitor<Model>()) \ | ||
| 204 | .def(CastVisitor<Model>()) \ | ||
| 205 | .def(PrintableVisitor<Model>()) \ | ||
| 206 | .def(CopyableVisitor<Model>()); | ||
| 207 | |||
| 208 | #define CROCODDYL_ACTION_DATA_IMPULSE_FWDDYN_PYTHON_BINDINGS(Scalar) \ | ||
| 209 | typedef ActionDataImpulseFwdDynamicsTpl<Scalar> Data; \ | ||
| 210 | typedef ActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 211 | typedef ActionModelImpulseFwdDynamicsTpl<Scalar> Model; \ | ||
| 212 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 213 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 214 | "ActionDataImpulseFwdDynamics", \ | ||
| 215 | "Action data for the impulse forward dynamics system.", \ | ||
| 216 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 217 | "Create impulse forward-dynamics action data.\n\n" \ | ||
| 218 | ":param model: impulse forward-dynamics action model")) \ | ||
| 219 | .def(ActionDataImpulseFwdDynamicsVisitor<Data>()) \ | ||
| 220 | .def(CopyableVisitor<Data>()); | ||
| 221 | |||
| 222 | ✗ | void exposeActionImpulseFwdDynamics() { | |
| 223 | ✗ | CROCODDYL_ACTION_MODEL_IMPULSE_FWDDYN_PYTHON_BINDINGS(float) | |
| 224 | ✗ | CROCODDYL_ACTION_DATA_IMPULSE_FWDDYN_PYTHON_BINDINGS(float) | |
| 225 | ✗ | } | |
| 226 | |||
| 227 | } // namespace python | ||
| 228 | } // namespace crocoddyl | ||
| 229 |