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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2025, Heriot-Watt University, University of Edinburgh |
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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 float |
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#include "crocoddyl/core/residuals/joint-effort.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 Model> |
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struct ResidualModelJointEffortVisitor |
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: public bp::def_visitor<ResidualModelJointEffortVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::StateAbstract State; |
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typedef typename Model::ActuationModelAbstract Actuation; |
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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( |
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bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, |
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VectorXs>(bp::args("self", "state", "actuation", "uref"), |
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"Initialize the joint-effort residual model.\n\n" |
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"The default nu value is obtained from state.nv.\n" |
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":param state: state description\n" |
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":param actuation: actuation model\n" |
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":param uref: reference joint effort")) |
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.def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, |
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std::size_t>( |
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bp::args("self", "state", "actuation", "nu"), |
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"Initialize the joint-effort residual model.\n\n" |
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"The default reference joint-effort is obtained from " |
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"np.zero(actuation.nu).\n" |
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":param state: state description\n" |
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":param actuation: actuation model\n" |
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":param nu: dimension of the control vector")) |
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.def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>>( |
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bp::args("self", "state", "actuation"), |
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"Initialize the joint-effort residual model.\n\n" |
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"The default reference joint-effort is obtained from " |
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"np.zero(actuation.nu).\n" |
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"The default nu value is obtained from state.nv.\n" |
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":param state: state description\n" |
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":param actuation: actuation model")) |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the joint-effort residual.\n\n" |
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":param data: residual 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 (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calc), |
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bp::args("self", "data", "x")) |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the joint-effort residual.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: residual 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( |
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"calcDiff", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &Model::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the joint-effort residual data.\n\n" |
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"Each residual model has its own data that needs to be allocated. " |
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"This function\n" |
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"returns the allocated data for the joint-effort residual.\n" |
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":param data: shared data\n" |
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":return residual data.") |
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.add_property("reference", |
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bp::make_function(&Model::get_reference, |
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bp::return_internal_reference<>()), |
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&Model::set_reference, "reference joint effort"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_JOINTEFF_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelJointEffortTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename ModelBase::StateAbstract State; \ |
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typedef typename Model::ActuationModelAbstract Actuation; \ |
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typedef typename ModelBase::VectorXs VectorXs; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ResidualModelJointEffort", \ |
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"This residual function defines a residual vector as r = u - uref, " \ |
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"with u and uref as the current and reference joint efforts, " \ |
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"respectively.", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, VectorXs, \ |
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std::size_t, bp::optional<bool>>( \ |
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bp::args("self", "state", "actuation", "uref", "nu", "fwddyn"), \ |
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"Initialize the joint-effort residual model.\n\n" \ |
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":param state: state description\n" \ |
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":param actuation: actuation model\n" \ |
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":param uref: reference joint effort\n" \ |
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":param nu: dimension of the control vector\n" \ |
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":param fwddyn: indicate if we have a forward dynamics problem " \ |
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"(True) or inverse dynamics problem (False) (default False)")) \ |
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.def(ResidualModelJointEffortVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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void exposeResidualJointEffort() { |
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CROCODDYL_RESIDUAL_MODEL_JOINTEFF_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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