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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, |
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// University of Oxford, University of Trento, |
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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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// Auto-generated file for double |
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#include "python/crocoddyl/core/integ-action-base.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 IntegratedActionModelAbstractVisitor |
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: public bp::def_visitor<IntegratedActionModelAbstractVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::IntegratedActionModel IntegratedActionModel; |
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typedef typename Model::IntegratedActionData IntegratedActionData; |
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typedef typename Model::DifferentialActionModel DifferentialActionModel; |
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typedef typename Model::ActionData ActionData; |
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typedef typename Model::ControlModel ControlModel; |
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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(bp::init<std::shared_ptr<DifferentialActionModel>, |
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std::shared_ptr<ControlModel>, bp::optional<Scalar, bool>>( |
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bp::args("self", "diffModel", "control", "stepTime", |
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"withCostResidual"), |
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"Initialize the integrated-action integrator.\n\n" |
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"You can also integrate autonomous systems (i.e., when " |
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"diffModel.nu is equals to 0).\n" |
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":param model: differential action model\n" |
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":param control: the control parametrization\n" |
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":param stepTime: step time (default 1e-3)\n" |
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":param withCostResidual: includes the cost residuals and " |
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"derivatives (default True).")) |
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.def("calc", pure_virtual(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the next state and cost value.\n\n" |
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"It describes the time-discrete evolution of our dynamical system " |
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"in which we obtain the next state. Additionally it computes the " |
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"cost value associated to this discrete state and control pair.\n" |
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":param data: integrated-action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def("calc", |
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static_cast<void (IntegratedActionModel::*)( |
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const std::shared_ptr<ActionData>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&IntegratedActionModel::calc), |
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bp::args("self", "data", "x")) |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the dynamics and cost functions.\n\n" |
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"It computes the partial derivatives of the dynamical system and " |
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"the cost function. It assumes that calc has been run first. This " |
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"function builds a quadratic approximation of the action model " |
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"(i.e. linear dynamics and quadratic cost).\n" |
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":param data: integrated-action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def("calcDiff", |
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static_cast<void (IntegratedActionModel::*)( |
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const std::shared_ptr<ActionData>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&IntegratedActionModel::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &Model::createData, &Model::default_createData, |
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bp::args("self"), |
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"Create the integrated-action data.\n\n" |
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"Each integrated-action model (IAM) has its own data that needs " |
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"to be allocated. This function returns the allocated data for a " |
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"predefined IAM.\n" |
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":return integrated-action data.") |
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.add_property( |
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"differential", |
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bp::make_function(&Model::get_differential, |
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bp::return_value_policy<bp::return_by_value>()), |
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"differential action model") |
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.add_property( |
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"control", |
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bp::make_function(&Model::get_control, |
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bp::return_value_policy<bp::return_by_value>()), |
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"control parametrization model") |
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.add_property( |
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"dt", |
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bp::make_function(&IntegratedActionModelAbstract::get_dt, |
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bp::return_value_policy<bp::return_by_value>()), |
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&IntegratedActionModelAbstract::set_dt, "step time"); |
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} |
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}; |
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#define CROCODDYL_INTACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionModelAbstractTpl<Scalar> Model; \ |
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typedef IntegratedActionModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef ActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> DiffModelBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable, bp::bases<ModelBase>>( \ |
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"IntegratedActionModelAbstract", \ |
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"Abstract class for integrated action models.\n\n" \ |
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"In Crocoddyl, an integrated action model transforms a differential " \ |
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"action model in a (discrete) action model.\n", \ |
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bp::init<std::shared_ptr<DiffModelBase>, bp::optional<Scalar, bool>>( \ |
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bp::args("self", "diffModel", "timeStep", "withCostResidual"), \ |
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"Initialize the integrated-action model.\n\n" \ |
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"You can also integrate autonomous systems (i.e., when " \ |
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"diffModel.nu is equals to 0).\n" \ |
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":param diffModel: differential action model\n" \ |
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":param timestep: integration time step (default 1e-3)\n" \ |
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":param withCostResidual: includes the cost residuals and " \ |
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"derivatives (default True).")) \ |
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.def(IntegratedActionModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_INTACTION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionDataAbstractTpl<Scalar> Data; \ |
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typedef IntegratedActionModelAbstractTpl<Scalar> Model; \ |
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typedef ActionDataAbstractTpl<Scalar> DataBase; \ |
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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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"IntegratedActionDataAbstract", \ |
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"Abstract class for integrated-action data.\n\n" \ |
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"In Crocoddyl, an action data contains all the required information " \ |
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"for processing an user-defined action model. The action data " \ |
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"typically is allocated onces by running model.createData() and " \ |
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"contains the first- and second- order derivatives of the dynamics and " \ |
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"cost function, respectively.", \ |
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bp::init<Model*>( \ |
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bp::args("self", "model"), \ |
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"Create common data shared between integrated-action models.\n\n" \ |
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"The integrated-action data uses its model in order to first " \ |
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"process it.\n" \ |
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":param model: integrated-action model")) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeIntegratedActionAbstract() { |
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CROCODDYL_INTACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(double) |
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CROCODDYL_INTACTION_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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