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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2025, University of Edinburgh, 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 float |
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#include "crocoddyl/core/data/joint.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 Data> |
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struct JointDataAbstractVisitor |
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: public bp::def_visitor<JointDataAbstractVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"tau", bp::make_getter(&Data::tau, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::tau), "joint efforts") |
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.add_property( |
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"a", bp::make_getter(&Data::a, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::a), "generalized joint accelerations") |
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.add_property( |
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"dtau_dx", |
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bp::make_getter(&Data::dtau_dx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_dx), |
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"partial derivatives of the joint efforts w.r.t. the state point") |
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.add_property( |
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"dtau_du", |
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bp::make_getter(&Data::dtau_du, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::dtau_du), |
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"partial derivatives of the joint efforts w.r.t. the control input") |
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.add_property( |
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"da_dx", |
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bp::make_getter(&Data::da_dx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::da_dx), |
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"partial derivatives of the generalized joint accelerations w.r.t. " |
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"the state point") |
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.add_property( |
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"da_du", |
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bp::make_getter(&Data::da_du, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::da_du), |
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"partial derivatives of the generalized joint accelerations w.r.t. " |
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"the control input"); |
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} |
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}; |
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template <typename Data> |
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struct DataCollectorJointVisitor |
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: public bp::def_visitor<DataCollectorJointVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"joint", |
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bp::make_getter(&Data::joint, |
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bp::return_value_policy<bp::return_by_value>()), |
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"joint data"); |
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} |
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}; |
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#define CROCODDYL_JOINT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef JointDataAbstractTpl<Scalar> JointData; \ |
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typedef typename JointData::StateAbstract State; \ |
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typedef typename JointData::ActuationModelAbstract Actuation; \ |
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bp::register_ptr_to_python<std::shared_ptr<JointData>>(); \ |
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bp::class_<JointData>( \ |
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"JointDataAbstract", \ |
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"Abstract class for joint datas.\n\n" \ |
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"A joint data contains all the required information about joint " \ |
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"efforts and accelerations. The joint data typically is allocated once " \ |
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"by running model.createData().", \ |
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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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"Create the joint data.\n\n" \ |
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"The joint data uses the model in order to first process it.\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 control vector.")) \ |
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.def(JointDataAbstractVisitor<JointData>()) \ |
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.def(CopyableVisitor<JointData>()); |
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#define CROCODDYL_DATA_COLLECTOR_JOINT_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorJointTpl<Scalar> Data; \ |
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typedef DataCollectorAbstractTpl<Scalar> DataBase; \ |
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typedef JointDataAbstractTpl<Scalar> JointData; \ |
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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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"DataCollectorJoint", "Joint data collector.\n\n", \ |
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bp::init<std::shared_ptr<JointData>>(bp::args("self", "joint"), \ |
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"Create joint data collection.\n\n" \ |
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":param joint: joint data")) \ |
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.def(DataCollectorJointVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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#define CROCODDYL_DATA_COLLECTOR_ACTUATION_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorJointActuationTpl<Scalar> AData; \ |
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typedef DataCollectorActuationTpl<Scalar> ADataBase; \ |
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typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ |
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typedef JointDataAbstractTpl<Scalar> JointData; \ |
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bp::register_ptr_to_python<std::shared_ptr<AData>>(); \ |
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bp::class_<AData, bp::bases<ADataBase>>( \ |
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"DataCollectorJointActuation", "Joint-actuation data collector.\n\n", \ |
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bp::init<std::shared_ptr<ActuationData>, std::shared_ptr<JointData>>( \ |
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bp::args("self", "actuation", "joint"), \ |
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"Create joint-actuation data collection.\n\n" \ |
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":param actuation: actuation data" \ |
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":param joint: joint data")) \ |
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.def(CopyableVisitor<AData>()); |
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void exposeDataCollectorJoint() { |
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CROCODDYL_JOINT_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_DATA_COLLECTOR_JOINT_PYTHON_BINDINGS(float) |
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CROCODDYL_DATA_COLLECTOR_ACTUATION_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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