| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Trento, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. All | ||
| 7 | // rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/integ-action-base.hpp" | ||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | class IntegratedActionModelAbstractTpl_wrap | ||
| 21 | : public IntegratedActionModelAbstractTpl<Scalar>, | ||
| 22 | public bp::wrapper<IntegratedActionModelAbstractTpl<Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(ActionModelBase, IntegratedActionModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef typename crocoddyl::IntegratedActionModelAbstractTpl<Scalar> | ||
| 28 | IntegratedActionModel; | ||
| 29 | typedef typename crocoddyl::IntegratedActionDataAbstractTpl<Scalar> | ||
| 30 | IntegratedActionData; | ||
| 31 | typedef typename crocoddyl::DifferentialActionModelAbstractTpl<Scalar> | ||
| 32 | DifferentialActionModel; | ||
| 33 | typedef typename crocoddyl::ActionDataAbstractTpl<Scalar> ActionData; | ||
| 34 | typedef typename crocoddyl::StateAbstractTpl<Scalar> State; | ||
| 35 | typedef typename IntegratedActionModel::ControlParametrizationModelAbstract | ||
| 36 | ControlModel; | ||
| 37 | typedef typename IntegratedActionModel::VectorXs VectorXs; | ||
| 38 | using IntegratedActionModel::control_; | ||
| 39 | using IntegratedActionModel::differential_; | ||
| 40 | using IntegratedActionModel::nu_; | ||
| 41 | using IntegratedActionModel::state_; | ||
| 42 | using IntegratedActionModel::time_step_; | ||
| 43 | using IntegratedActionModel::with_cost_residual_; | ||
| 44 | |||
| 45 | ✗ | IntegratedActionModelAbstractTpl_wrap( | |
| 46 | std::shared_ptr<DifferentialActionModel> model, | ||
| 47 | const Scalar timestep = Scalar(1e-3), | ||
| 48 | const bool with_cost_residual = true) | ||
| 49 | : IntegratedActionModel(model, timestep, with_cost_residual), | ||
| 50 | ✗ | bp::wrapper<IntegratedActionModel>() {} | |
| 51 | |||
| 52 | ✗ | IntegratedActionModelAbstractTpl_wrap( | |
| 53 | std::shared_ptr<DifferentialActionModel> model, | ||
| 54 | std::shared_ptr<ControlModel> control, | ||
| 55 | const Scalar timestep = Scalar(1e-3), | ||
| 56 | const bool with_cost_residual = true) | ||
| 57 | : IntegratedActionModel(model, control, timestep, with_cost_residual), | ||
| 58 | ✗ | bp::wrapper<IntegratedActionModel>() {} | |
| 59 | |||
| 60 | ✗ | void calc(const std::shared_ptr<ActionData>& data, | |
| 61 | const Eigen::Ref<const VectorXs>& x, | ||
| 62 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 63 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 64 | ✗ | throw_pretty( | |
| 65 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 66 | std::to_string(state_->get_nx()) + ")"); | ||
| 67 | } | ||
| 68 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 69 | ✗ | throw_pretty( | |
| 70 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 71 | std::to_string(nu_) + ")"); | ||
| 72 | } | ||
| 73 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, | |
| 74 | ✗ | (VectorXs)u); | |
| 75 | } | ||
| 76 | |||
| 77 | ✗ | void calcDiff(const std::shared_ptr<ActionData>& data, | |
| 78 | const Eigen::Ref<const VectorXs>& x, | ||
| 79 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 80 | ✗ | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { | |
| 81 | ✗ | throw_pretty( | |
| 82 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 83 | std::to_string(state_->get_nx()) + ")"); | ||
| 84 | } | ||
| 85 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 86 | ✗ | throw_pretty( | |
| 87 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 88 | std::to_string(nu_) + ")"); | ||
| 89 | } | ||
| 90 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 91 | ✗ | (VectorXs)x, (VectorXs)u); | |
| 92 | } | ||
| 93 | |||
| 94 | ✗ | std::shared_ptr<ActionData> createData() override { | |
| 95 | ✗ | enableMultithreading() = false; | |
| 96 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 97 | ✗ | return bp::call<std::shared_ptr<IntegratedActionData>>(createData.ptr()); | |
| 98 | } | ||
| 99 | ✗ | return IntegratedActionModel::createData(); | |
| 100 | } | ||
| 101 | |||
| 102 | ✗ | std::shared_ptr<ActionData> default_createData() { | |
| 103 | ✗ | return this->IntegratedActionModel::createData(); | |
| 104 | } | ||
| 105 | |||
| 106 | template <typename NewScalar> | ||
| 107 | ✗ | IntegratedActionModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 108 | typedef IntegratedActionModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 109 | ✗ | if (control_) { | |
| 110 | ✗ | ReturnType ret(differential_->template cast<NewScalar>(), | |
| 111 | ✗ | control_->template cast<NewScalar>(), | |
| 112 | ✗ | scalar_cast<NewScalar>(time_step_), with_cost_residual_); | |
| 113 | ✗ | return ret; | |
| 114 | ✗ | } else { | |
| 115 | ✗ | ReturnType ret(differential_->template cast<NewScalar>(), | |
| 116 | ✗ | scalar_cast<NewScalar>(time_step_), with_cost_residual_); | |
| 117 | ✗ | return ret; | |
| 118 | ✗ | } | |
| 119 | } | ||
| 120 | }; | ||
| 121 | |||
| 122 | } // namespace python | ||
| 123 | } // namespace crocoddyl | ||
| 124 | |||
| 125 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ | ||
| 126 |