| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/integ-action-base.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 18 | 18 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, University of Trento, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/integ-action-base.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Model> | ||
| 17 | struct IntegratedActionModelAbstractVisitor | ||
| 18 | : public bp::def_visitor<IntegratedActionModelAbstractVisitor<Model>> { | ||
| 19 | typedef typename Model::Scalar Scalar; | ||
| 20 | typedef typename Model::IntegratedActionModel IntegratedActionModel; | ||
| 21 | typedef typename Model::IntegratedActionData IntegratedActionData; | ||
| 22 | typedef typename Model::DifferentialActionModel DifferentialActionModel; | ||
| 23 | typedef typename Model::ActionData ActionData; | ||
| 24 | typedef typename Model::ControlModel ControlModel; | ||
| 25 | typedef typename Model::VectorXs VectorXs; | ||
| 26 | template <class PyClass> | ||
| 27 | 40 | void visit(PyClass& cl) const { | |
| 28 |
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40 | cl.def(bp::init<std::shared_ptr<DifferentialActionModel>, |
| 29 | std::shared_ptr<ControlModel>, bp::optional<Scalar, bool>>( | ||
| 30 | bp::args("self", "diffModel", "control", "stepTime", | ||
| 31 | "withCostResidual"), | ||
| 32 | "Initialize the integrated-action integrator.\n\n" | ||
| 33 | "You can also integrate autonomous systems (i.e., when " | ||
| 34 | "diffModel.nu is equals to 0).\n" | ||
| 35 | ":param model: differential action model\n" | ||
| 36 | ":param control: the control parametrization\n" | ||
| 37 | ":param stepTime: step time (default 1e-3)\n" | ||
| 38 | ":param withCostResidual: includes the cost residuals and " | ||
| 39 | "derivatives (default True).")) | ||
| 40 |
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80 | .def("calc", pure_virtual(&Model::calc), |
| 41 | bp::args("self", "data", "x", "u"), | ||
| 42 | "Compute the next state and cost value.\n\n" | ||
| 43 | "It describes the time-discrete evolution of our dynamical system " | ||
| 44 | "in which we obtain the next state. Additionally it computes the " | ||
| 45 | "cost value associated to this discrete state and control pair.\n" | ||
| 46 | ":param data: integrated-action data\n" | ||
| 47 | ":param x: state point (dim. state.nx)\n" | ||
| 48 | ":param u: control input (dim. nu)") | ||
| 49 |
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80 | .def("calc", |
| 50 | static_cast<void (IntegratedActionModel::*)( | ||
| 51 | const std::shared_ptr<ActionData>&, | ||
| 52 | const Eigen::Ref<const VectorXs>&)>( | ||
| 53 | &IntegratedActionModel::calc), | ||
| 54 | bp::args("self", "data", "x")) | ||
| 55 |
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80 | .def("calcDiff", pure_virtual(&Model::calcDiff), |
| 56 | bp::args("self", "data", "x", "u"), | ||
| 57 | "Compute the derivatives of the dynamics and cost functions.\n\n" | ||
| 58 | "It computes the partial derivatives of the dynamical system and " | ||
| 59 | "the cost function. It assumes that calc has been run first. This " | ||
| 60 | "function builds a quadratic approximation of the action model " | ||
| 61 | "(i.e. linear dynamics and quadratic cost).\n" | ||
| 62 | ":param data: integrated-action data\n" | ||
| 63 | ":param x: state point (dim. state.nx)\n" | ||
| 64 | ":param u: control input (dim. nu)") | ||
| 65 |
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80 | .def("calcDiff", |
| 66 | static_cast<void (IntegratedActionModel::*)( | ||
| 67 | const std::shared_ptr<ActionData>&, | ||
| 68 | const Eigen::Ref<const VectorXs>&)>( | ||
| 69 | &IntegratedActionModel::calcDiff), | ||
| 70 | bp::args("self", "data", "x")) | ||
| 71 |
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80 | .def("createData", &Model::createData, &Model::default_createData, |
| 72 | bp::args("self"), | ||
| 73 | "Create the integrated-action data.\n\n" | ||
| 74 | "Each integrated-action model (IAM) has its own data that needs " | ||
| 75 | "to be allocated. This function returns the allocated data for a " | ||
| 76 | "predefined IAM.\n" | ||
| 77 | ":return integrated-action data.") | ||
| 78 |
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40 | .add_property( |
| 79 | "differential", | ||
| 80 | bp::make_function(&Model::get_differential, | ||
| 81 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 82 | "differential action model") | ||
| 83 |
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40 | .add_property( |
| 84 | "control", | ||
| 85 | bp::make_function(&Model::get_control, | ||
| 86 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 87 | "control parametrization model") | ||
| 88 |
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40 | .add_property( |
| 89 | "dt", | ||
| 90 | bp::make_function(&IntegratedActionModelAbstract::get_dt, | ||
| 91 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 92 | &IntegratedActionModelAbstract::set_dt, "step time"); | ||
| 93 | 40 | } | |
| 94 | }; | ||
| 95 | |||
| 96 | #define CROCODDYL_INTACTION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 97 | typedef IntegratedActionModelAbstractTpl<Scalar> Model; \ | ||
| 98 | typedef IntegratedActionModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 99 | typedef ActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 100 | typedef DifferentialActionModelAbstractTpl<Scalar> DiffModelBase; \ | ||
| 101 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 102 | bp::class_<Model_wrap, boost::noncopyable, bp::bases<ModelBase>>( \ | ||
| 103 | "IntegratedActionModelAbstract", \ | ||
| 104 | "Abstract class for integrated action models.\n\n" \ | ||
| 105 | "In Crocoddyl, an integrated action model transforms a differential " \ | ||
| 106 | "action model in a (discrete) action model.\n", \ | ||
| 107 | bp::init<std::shared_ptr<DiffModelBase>, bp::optional<Scalar, bool>>( \ | ||
| 108 | bp::args("self", "diffModel", "timeStep", "withCostResidual"), \ | ||
| 109 | "Initialize the integrated-action model.\n\n" \ | ||
| 110 | "You can also integrate autonomous systems (i.e., when " \ | ||
| 111 | "diffModel.nu is equals to 0).\n" \ | ||
| 112 | ":param diffModel: differential action model\n" \ | ||
| 113 | ":param timestep: integration time step (default 1e-3)\n" \ | ||
| 114 | ":param withCostResidual: includes the cost residuals and " \ | ||
| 115 | "derivatives (default True).")) \ | ||
| 116 | .def(IntegratedActionModelAbstractVisitor<Model_wrap>()) \ | ||
| 117 | .def(PrintableVisitor<Model_wrap>()) \ | ||
| 118 | .def(CopyableVisitor<Model_wrap>()); | ||
| 119 | |||
| 120 | #define CROCODDYL_INTACTION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 121 | typedef IntegratedActionDataAbstractTpl<Scalar> Data; \ | ||
| 122 | typedef IntegratedActionModelAbstractTpl<Scalar> Model; \ | ||
| 123 | typedef ActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 124 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 125 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 126 | "IntegratedActionDataAbstract", \ | ||
| 127 | "Abstract class for integrated-action data.\n\n" \ | ||
| 128 | "In Crocoddyl, an action data contains all the required information " \ | ||
| 129 | "for processing an user-defined action model. The action data " \ | ||
| 130 | "typically is allocated onces by running model.createData() and " \ | ||
| 131 | "contains the first- and second- order derivatives of the dynamics and " \ | ||
| 132 | "cost function, respectively.", \ | ||
| 133 | bp::init<Model*>( \ | ||
| 134 | bp::args("self", "model"), \ | ||
| 135 | "Create common data shared between integrated-action models.\n\n" \ | ||
| 136 | "The integrated-action data uses its model in order to first " \ | ||
| 137 | "process it.\n" \ | ||
| 138 | ":param model: integrated-action model")) \ | ||
| 139 | .def(CopyableVisitor<Data>()); | ||
| 140 | |||
| 141 | 10 | void exposeIntegratedActionAbstract() { | |
| 142 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_INTACTION_MODEL_ABSTRACT_PYTHON_BINDINGS) |
| 143 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_INTACTION_DATA_ABSTRACT_PYTHON_BINDINGS) |
| 144 | 10 | } | |
| 145 | |||
| 146 | } // namespace python | ||
| 147 | } // namespace crocoddyl | ||
| 148 |