| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/states/multibody.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) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/state-base.hpp" | ||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename State> | ||
| 19 | struct StateMultibodyVisitor | ||
| 20 | : public bp::def_visitor<StateMultibodyVisitor<State>> { | ||
| 21 | typedef typename State::Scalar Scalar; | ||
| 22 | 50 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Jdiffs, | |
| 23 | StateAbstractTpl<Scalar>::Jdiff_Js, 2, | ||
| 24 | 3) | ||
| 25 | 74 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( | |
| 26 | Jintegrates, StateAbstractTpl<Scalar>::Jintegrate_Js, 2, 3) | ||
| 27 | template <class PyClass> | ||
| 28 | 40 | void visit(PyClass& cl) const { | |
| 29 | 40 | cl.def("zero", &State::zero, bp::args("self"), | |
| 30 | "Return the neutral robot configuration with zero velocity.\n\n" | ||
| 31 | ":return neutral robot configuration with zero velocity") | ||
| 32 |
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80 | .def("rand", &State::rand, bp::args("self"), |
| 33 | "Return a random reference state.\n\n" | ||
| 34 | ":return random reference state") | ||
| 35 |
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80 | .def("diff", &State::diff_dx, bp::args("self", "x0", "x1"), |
| 36 | "Operator that differentiates the two robot states.\n\n" | ||
| 37 | "It returns the value of x1 [-] x0 operation. This operator uses " | ||
| 38 | "the Lie algebra since the robot's root could lie in the SE(3) " | ||
| 39 | "manifold.\n" | ||
| 40 | ":param x0: current state (dim state.nx()).\n" | ||
| 41 | ":param x1: next state (dim state.nx()).\n" | ||
| 42 | ":return x1 - x0 value (dim state.nx()).") | ||
| 43 |
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80 | .def("integrate", &State::integrate_x, bp::args("self", "x", "dx"), |
| 44 | "Operator that integrates the current robot state.\n\n" | ||
| 45 | "It returns the value of x [+] dx operation. This operator uses " | ||
| 46 | "the Lie algebra since the robot's root could lie in the SE(3) " | ||
| 47 | "manifold. Futhermore there is no timestep here (i.e. dx = v*dt), " | ||
| 48 | "note this if you're integrating a velocity v during an interval " | ||
| 49 | "dt.\n" | ||
| 50 | ":param x: current state (dim state.nx()).\n" | ||
| 51 | ":param dx: displacement of the state (dim state.ndx()).\n" | ||
| 52 | ":return x + dx value (dim state.nx()).") | ||
| 53 |
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40 | .def("Jdiff", &State::Jdiff_Js, |
| 54 |
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80 | Jdiffs(bp::args("self", "x0", "x1", "firstsecond"), |
| 55 | "Compute the partial derivatives of the diff operator.\n\n" | ||
| 56 | "Both Jacobian matrices are represented throught an " | ||
| 57 | "identity matrix, with the exception that the robot's root " | ||
| 58 | "is defined as free-flying joint (SE(3)). By default, this " | ||
| 59 | "function returns the derivatives of the first and second " | ||
| 60 | "argument (i.e. firstsecond='both'). However we ask for a " | ||
| 61 | "specific partial derivative by setting " | ||
| 62 | "firstsecond='first' or firstsecond='second'.\n" | ||
| 63 | ":param x0: current state (dim state.nx()).\n" | ||
| 64 | ":param x1: next state (dim state.nx()).\n" | ||
| 65 | ":param firstsecond: derivative w.r.t x0 or x1 or both\n" | ||
| 66 | ":return the partial derivative(s) of the diff(x0, x1) " | ||
| 67 | "function")) | ||
| 68 |
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40 | .def("Jintegrate", &State::Jintegrate_Js, |
| 69 |
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80 | Jintegrates( |
| 70 | bp::args("self", "x", "dx", "firstsecond"), | ||
| 71 | "Compute the partial derivatives of arithmetic addition.\n\n" | ||
| 72 | "Both Jacobian matrices are represented throught an identity " | ||
| 73 | "matrix. with the exception that the robot's root is defined " | ||
| 74 | "as free-flying joint (SE(3)). By default, this function " | ||
| 75 | "returns the derivatives of the first and second argument " | ||
| 76 | "(i.e. firstsecond='both'). However we ask for a specific " | ||
| 77 | "partial derivative by setting firstsecond='first' or " | ||
| 78 | "firstsecond='second'.\n" | ||
| 79 | ":param x: current state (dim state.nx()).\n" | ||
| 80 | ":param dx: displacement of the state (dim state.ndx()).\n" | ||
| 81 | ":param firstsecond: derivative w.r.t x or dx or both\n" | ||
| 82 | ":return the partial derivative(s) of the integrate(x, dx) " | ||
| 83 | "function")) | ||
| 84 |
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80 | .def("JintegrateTransport", &State::JintegrateTransport, |
| 85 | bp::args("self", "x", "dx", "Jin", "firstsecond"), | ||
| 86 | "Parallel transport from integrate(x, dx) to x.\n\n" | ||
| 87 | "This function performs the parallel transportation of an input " | ||
| 88 | "matrix whose columns are expressed in the tangent space at " | ||
| 89 | "integrate(x, dx) to the tangent space at x point\n" | ||
| 90 | ":param x: state point (dim. state.nx).\n" | ||
| 91 | ":param dx: velocity vector (dim state.ndx).\n" | ||
| 92 | ":param Jin: input matrix (number of rows = state.nv).\n" | ||
| 93 | ":param firstsecond: derivative w.r.t x or dx") | ||
| 94 |
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40 | .add_property( |
| 95 | "pinocchio", | ||
| 96 | bp::make_function(&State::get_pinocchio, | ||
| 97 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 98 | "pinocchio model"); | ||
| 99 | 40 | } | |
| 100 | }; | ||
| 101 | |||
| 102 | #define CROCODDYL_STATE_MULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 103 | typedef StateMultibodyTpl<Scalar> State; \ | ||
| 104 | typedef StateAbstractTpl<Scalar> StateBase; \ | ||
| 105 | typedef pinocchio::ModelTpl<Scalar> Model; \ | ||
| 106 | bp::register_ptr_to_python<std::shared_ptr<State>>(); \ | ||
| 107 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 108 | bp::class_<State, bp::bases<StateBase>>( \ | ||
| 109 | "StateMultibody", \ | ||
| 110 | "Multibody state defined using Pinocchio.\n\n" \ | ||
| 111 | "Pinocchio defines operators for integrating or differentiating the " \ | ||
| 112 | "robot's configuration space. And here we assume that the state is " \ | ||
| 113 | "defined by the robot's configuration and its joint velocities " \ | ||
| 114 | "(x=[q,v]). Generally speaking, q lies on the manifold configuration " \ | ||
| 115 | "manifold (M) and v in its tangent space (Tx M). Additionally the " \ | ||
| 116 | "Pinocchio allows us to compute analytically the Jacobians for the " \ | ||
| 117 | "differentiate and integrate operators. Note that this code can be " \ | ||
| 118 | "reused in any robot that is described through its Pinocchio model.", \ | ||
| 119 | bp::init<std::shared_ptr<Model>>( \ | ||
| 120 | bp::args("self", "pinocchio"), \ | ||
| 121 | "Initialize the multibody state given a Pinocchio model.\n\n" \ | ||
| 122 | ":param pinocchio: pinocchio model (i.e. multibody model)") \ | ||
| 123 | [bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 124 | .def(StateMultibodyVisitor<State>()) \ | ||
| 125 | .def(CastVisitor<State>()) \ | ||
| 126 | .def(PrintableVisitor<State>()) \ | ||
| 127 | .def(CopyableVisitor<State>()); | ||
| 128 | |||
| 129 | 10 | void exposeStateMultibody() { | |
| 130 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_STATE_MULTIBODY_PYTHON_BINDINGS) |
| 131 | 10 | } | |
| 132 | |||
| 133 | } // namespace python | ||
| 134 | } // namespace crocoddyl | ||
| 135 |