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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 Trento, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. All |
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// rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ |
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#include "crocoddyl/core/integ-action-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Scalar> |
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class IntegratedActionModelAbstractTpl_wrap |
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: public IntegratedActionModelAbstractTpl<Scalar>, |
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public bp::wrapper<IntegratedActionModelAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActionModelBase, IntegratedActionModelAbstractTpl_wrap) |
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typedef typename crocoddyl::IntegratedActionModelAbstractTpl<Scalar> |
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IntegratedActionModel; |
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typedef typename crocoddyl::IntegratedActionDataAbstractTpl<Scalar> |
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IntegratedActionData; |
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typedef typename crocoddyl::DifferentialActionModelAbstractTpl<Scalar> |
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DifferentialActionModel; |
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typedef typename crocoddyl::ActionDataAbstractTpl<Scalar> ActionData; |
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typedef typename crocoddyl::StateAbstractTpl<Scalar> State; |
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typedef typename IntegratedActionModel::ControlParametrizationModelAbstract |
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ControlModel; |
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typedef typename IntegratedActionModel::VectorXs VectorXs; |
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using IntegratedActionModel::control_; |
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using IntegratedActionModel::differential_; |
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using IntegratedActionModel::nu_; |
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using IntegratedActionModel::state_; |
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using IntegratedActionModel::time_step_; |
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using IntegratedActionModel::with_cost_residual_; |
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IntegratedActionModelAbstractTpl_wrap( |
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std::shared_ptr<DifferentialActionModel> model, |
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const Scalar timestep = Scalar(1e-3), |
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const bool with_cost_residual = true) |
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: IntegratedActionModel(model, timestep, with_cost_residual), |
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bp::wrapper<IntegratedActionModel>() {} |
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IntegratedActionModelAbstractTpl_wrap( |
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std::shared_ptr<DifferentialActionModel> model, |
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std::shared_ptr<ControlModel> control, |
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const Scalar timestep = Scalar(1e-3), |
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const bool with_cost_residual = true) |
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: IntegratedActionModel(model, control, timestep, with_cost_residual), |
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bp::wrapper<IntegratedActionModel>() {} |
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void calc(const std::shared_ptr<ActionData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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void calcDiff(const std::shared_ptr<ActionData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x, (VectorXs)u); |
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} |
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std::shared_ptr<ActionData> createData() override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<IntegratedActionData>>(createData.ptr()); |
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} |
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return IntegratedActionModel::createData(); |
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} |
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std::shared_ptr<ActionData> default_createData() { |
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return this->IntegratedActionModel::createData(); |
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} |
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template <typename NewScalar> |
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IntegratedActionModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef IntegratedActionModelAbstractTpl_wrap<NewScalar> ReturnType; |
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if (control_) { |
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ReturnType ret(differential_->template cast<NewScalar>(), |
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control_->template cast<NewScalar>(), |
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scalar_cast<NewScalar>(time_step_), with_cost_residual_); |
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return ret; |
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} else { |
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ReturnType ret(differential_->template cast<NewScalar>(), |
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scalar_cast<NewScalar>(time_step_), with_cost_residual_); |
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return ret; |
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} |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_ |
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