| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
| 5 |
|
|
// University of Oxford, Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
// Auto-generated file for double |
| 11 |
|
|
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 14 |
|
|
#include "python/crocoddyl/utils/map-converter.hpp" |
| 15 |
|
|
#include "python/crocoddyl/utils/set-converter.hpp" |
| 16 |
|
|
|
| 17 |
|
|
namespace crocoddyl { |
| 18 |
|
|
namespace python { |
| 19 |
|
|
|
| 20 |
|
|
template <typename Model> |
| 21 |
|
|
struct ContactItemVisitor : public bp::def_visitor<ContactItemVisitor<Model>> { |
| 22 |
|
|
template <class PyClass> |
| 23 |
|
✗ |
void visit(PyClass& cl) const { |
| 24 |
|
✗ |
cl.def_readwrite("name", &Model::name, "contact name") |
| 25 |
|
✗ |
.add_property( |
| 26 |
|
|
"contact", |
| 27 |
|
|
bp::make_getter(&Model::contact, |
| 28 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 29 |
|
|
"contact model") |
| 30 |
|
✗ |
.def_readwrite("active", &Model::active, "contact status"); |
| 31 |
|
|
} |
| 32 |
|
|
}; |
| 33 |
|
|
|
| 34 |
|
|
template <typename Model> |
| 35 |
|
|
struct ContactModelMultipleVisitor |
| 36 |
|
|
: public bp::def_visitor<ContactModelMultipleVisitor<Model>> { |
| 37 |
|
✗ |
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ContactModelMultiple_addContact_wrap, |
| 38 |
|
|
Model::addContact, 2, 3) |
| 39 |
|
|
template <class PyClass> |
| 40 |
|
✗ |
void visit(PyClass& cl) const { |
| 41 |
|
✗ |
cl.def( |
| 42 |
|
|
"addContact", &Model::addContact, |
| 43 |
|
✗ |
ContactModelMultiple_addContact_wrap( |
| 44 |
|
|
bp::args("self", "name", "contact", "active"), |
| 45 |
|
|
"Add a contact item.\n\n" |
| 46 |
|
|
":param name: contact name\n" |
| 47 |
|
|
":param contact: contact model\n" |
| 48 |
|
|
":param active: True if the contact is activated (default true)")) |
| 49 |
|
✗ |
.def("removeContact", &Model::removeContact, bp::args("self", "name"), |
| 50 |
|
|
"Remove a contact item.\n\n" |
| 51 |
|
|
":param name: contact name") |
| 52 |
|
✗ |
.def("changeContactStatus", &Model::changeContactStatus, |
| 53 |
|
|
bp::args("self", "name", "active"), |
| 54 |
|
|
"Change the contact status.\n\n" |
| 55 |
|
|
":param name: contact name\n" |
| 56 |
|
|
":param active: contact status (true for active and false for " |
| 57 |
|
|
"inactive)") |
| 58 |
|
✗ |
.def("calc", &Model::calc, bp::args("self", "data", "x"), |
| 59 |
|
|
"Compute the contact Jacobian and contact acceleration.\n\n" |
| 60 |
|
|
"The rigid contact model throught acceleration-base holonomic " |
| 61 |
|
|
"constraint\n" |
| 62 |
|
|
"of the contact frame placement.\n" |
| 63 |
|
|
":param data: contact data\n" |
| 64 |
|
|
":param x: state point (dim. state.nx)") |
| 65 |
|
✗ |
.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), |
| 66 |
|
|
"Compute the derivatives of the contact holonomic constraint.\n\n" |
| 67 |
|
|
"The rigid contact model throught acceleration-base holonomic " |
| 68 |
|
|
"constraint\n" |
| 69 |
|
|
"of the contact frame placement.\n" |
| 70 |
|
|
"It assumes that calc has been run first.\n" |
| 71 |
|
|
":param data: contact data\n" |
| 72 |
|
|
":param x: state point (dim. state.nx)") |
| 73 |
|
✗ |
.def("updateAcceleration", &Model::updateAcceleration, |
| 74 |
|
|
bp::args("self", "data", "dv"), |
| 75 |
|
|
"Update the constrained system acceleration.\n\n" |
| 76 |
|
|
":param data: contact data\n" |
| 77 |
|
|
":param dv: constrained acceleration (dimension nv)") |
| 78 |
|
✗ |
.def("updateForce", &Model::updateForce, |
| 79 |
|
|
bp::args("self", "data", "force"), |
| 80 |
|
|
"Update the spatial force in frame coordinate.\n\n" |
| 81 |
|
|
":param data: contact data\n" |
| 82 |
|
|
":param force: force vector (dimension nc)") |
| 83 |
|
✗ |
.def( |
| 84 |
|
|
"updateAccelerationDiff", &Model::updateAccelerationDiff, |
| 85 |
|
|
bp::args("self", "data", "ddv_dx"), |
| 86 |
|
|
"Update the Jacobian of the constrained system acceleration.\n\n" |
| 87 |
|
|
":param data: contact data\n" |
| 88 |
|
|
":param ddv_dx: Jacobian of the system acceleration in generalized " |
| 89 |
|
|
"coordinates (dimension nv*ndx)") |
| 90 |
|
✗ |
.def("updateForceDiff", &Model::updateForceDiff, |
| 91 |
|
|
bp::args("self", "data", "df_dx", "df_du"), |
| 92 |
|
|
"Update the Jacobians of the spatial force defined in frame " |
| 93 |
|
|
"coordinates.\n\n" |
| 94 |
|
|
":param data: contact data\n" |
| 95 |
|
|
":param df_dx: Jacobian of the force with respect to the state " |
| 96 |
|
|
"(dimension nc*ndx)\n" |
| 97 |
|
|
":param df_du: Jacobian of the force with respect to the control " |
| 98 |
|
|
"(dimension nc*nu)") |
| 99 |
|
✗ |
.def("updateRneaDiff", &Model::updateRneaDiff, |
| 100 |
|
|
bp::args("self", "data", "pinocchio"), |
| 101 |
|
|
"Update the RNEA derivative dtau_dq by by adding the skew term " |
| 102 |
|
|
"(necessary for contacts expressed in\n" |
| 103 |
|
|
"LOCAL_WORLD_ALIGNED / WORLD).\n\n" |
| 104 |
|
|
":param data: contact data\n" |
| 105 |
|
|
":param pinocchio: Pinocchio data") |
| 106 |
|
✗ |
.def("createData", &Model::createData, |
| 107 |
|
✗ |
bp::with_custodian_and_ward_postcall<0, 2>(), |
| 108 |
|
|
bp::args("self", "data"), |
| 109 |
|
|
"Create the total contact data.\n\n" |
| 110 |
|
|
":param data: Pinocchio data\n" |
| 111 |
|
|
":return total contact data.") |
| 112 |
|
✗ |
.add_property( |
| 113 |
|
|
"contacts", |
| 114 |
|
|
bp::make_function(&Model::get_contacts, |
| 115 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 116 |
|
|
"stack of contacts") |
| 117 |
|
✗ |
.add_property( |
| 118 |
|
|
"state", |
| 119 |
|
|
bp::make_function(&Model::get_state, |
| 120 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 121 |
|
|
"state of the multibody system") |
| 122 |
|
✗ |
.add_property("nc", bp::make_function(&Model::get_nc), |
| 123 |
|
|
"dimension of the active contact vector") |
| 124 |
|
✗ |
.add_property("nc_total", bp::make_function(&Model::get_nc_total), |
| 125 |
|
|
"dimension of the total contact vector") |
| 126 |
|
✗ |
.add_property("nu", bp::make_function(&Model::get_nu), |
| 127 |
|
|
"dimension of control vector") |
| 128 |
|
✗ |
.add_property( |
| 129 |
|
|
"active_set", |
| 130 |
|
|
bp::make_function(&Model::get_active_set, |
| 131 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 132 |
|
|
"names of the active set of contact items") |
| 133 |
|
✗ |
.add_property( |
| 134 |
|
|
"inactive_set", |
| 135 |
|
|
bp::make_function(&Model::get_inactive_set, |
| 136 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 137 |
|
|
"names of the inactive set of contact items") |
| 138 |
|
✗ |
.def("getContactStatus", &Model::getContactStatus, |
| 139 |
|
|
bp::args("self", "name"), |
| 140 |
|
|
"Return the contact status of a given contact name.\n\n" |
| 141 |
|
|
":param name: contact name") |
| 142 |
|
✗ |
.add_property( |
| 143 |
|
|
"computeAllContacts", |
| 144 |
|
|
bp::make_function(&Model::getComputeAllContacts), |
| 145 |
|
|
bp::make_function(&Model::setComputeAllContacts), |
| 146 |
|
|
"type of contact computation (True for all contacts and False for " |
| 147 |
|
|
"active contacts)"); |
| 148 |
|
|
} |
| 149 |
|
|
}; |
| 150 |
|
|
|
| 151 |
|
|
template <typename Data> |
| 152 |
|
|
struct ContactDataMultipleVisitor |
| 153 |
|
|
: public bp::def_visitor<ContactDataMultipleVisitor<Data>> { |
| 154 |
|
|
template <class PyClass> |
| 155 |
|
✗ |
void visit(PyClass& cl) const { |
| 156 |
|
✗ |
cl.add_property( |
| 157 |
|
✗ |
"Jc", bp::make_getter(&Data::Jc, bp::return_internal_reference<>()), |
| 158 |
|
|
bp::make_setter(&Data::Jc), |
| 159 |
|
|
"contact Jacobian in frame coordinate (memory defined for " |
| 160 |
|
|
"active and inactive contacts)") |
| 161 |
|
✗ |
.add_property( |
| 162 |
|
✗ |
"a0", bp::make_getter(&Data::a0, bp::return_internal_reference<>()), |
| 163 |
|
|
bp::make_setter(&Data::a0), |
| 164 |
|
|
"desired spatial contact acceleration in frame coordinate " |
| 165 |
|
|
"(memory defined for active and inactive contacts)") |
| 166 |
|
✗ |
.add_property( |
| 167 |
|
|
"da0_dx", |
| 168 |
|
✗ |
bp::make_getter(&Data::da0_dx, bp::return_internal_reference<>()), |
| 169 |
|
|
bp::make_setter(&Data::da0_dx), |
| 170 |
|
|
"Jacobian of the desired spatial contact acceleration in " |
| 171 |
|
|
"frame coordinate (memory defined for active and " |
| 172 |
|
|
"inactive contacts)") |
| 173 |
|
✗ |
.add_property( |
| 174 |
|
✗ |
"dv", bp::make_getter(&Data::dv, bp::return_internal_reference<>()), |
| 175 |
|
|
bp::make_setter(&Data::dv), |
| 176 |
|
|
"constrained system acceleration in generalized coordinates") |
| 177 |
|
✗ |
.add_property( |
| 178 |
|
|
"ddv_dx", |
| 179 |
|
✗ |
bp::make_getter(&Data::ddv_dx, bp::return_internal_reference<>()), |
| 180 |
|
|
bp::make_setter(&Data::ddv_dx), |
| 181 |
|
|
"Jacobian of the constrained system acceleration in " |
| 182 |
|
|
"generalized coordinates") |
| 183 |
|
✗ |
.add_property( |
| 184 |
|
|
"contacts", |
| 185 |
|
|
bp::make_getter(&Data::contacts, |
| 186 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 187 |
|
|
"stack of contacts data") |
| 188 |
|
✗ |
.def_readwrite("fext", &Data::fext, |
| 189 |
|
|
"external spatial forces in join coordinates"); |
| 190 |
|
|
} |
| 191 |
|
|
}; |
| 192 |
|
|
|
| 193 |
|
|
#define CROCODDYL_CONTACT_ITEM_PYTHON_BINDINGS(Scalar) \ |
| 194 |
|
|
typedef ContactItemTpl<Scalar> Item; \ |
| 195 |
|
|
typedef Item::ContactModelAbstract ContactModel; \ |
| 196 |
|
|
typedef std::shared_ptr<Item> ContactItemPtr; \ |
| 197 |
|
|
StdMapPythonVisitor< \ |
| 198 |
|
|
std::string, ContactItemPtr, std::less<std::string>, \ |
| 199 |
|
|
std::allocator<std::pair<const std::string, ContactItemPtr>>, \ |
| 200 |
|
|
true>::expose("StdMap_ContactItem"); \ |
| 201 |
|
|
typedef ContactDataAbstractTpl<Scalar> ContactData; \ |
| 202 |
|
|
typedef std::shared_ptr<ContactData> ContactDataPtr; \ |
| 203 |
|
|
StdMapPythonVisitor< \ |
| 204 |
|
|
std::string, ContactDataPtr, std::less<std::string>, \ |
| 205 |
|
|
std::allocator<std::pair<const std::string, ContactDataPtr>>, \ |
| 206 |
|
|
true>::expose("StdMap_ContactData"); \ |
| 207 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Item>>(); \ |
| 208 |
|
|
bp::class_<Item>( \ |
| 209 |
|
|
"ContactItem", "Describe a contact item.\n\n", \ |
| 210 |
|
|
bp::init<std::string, std::shared_ptr<ContactModel>, \ |
| 211 |
|
|
bp::optional<bool>>( \ |
| 212 |
|
|
bp::args("self", "name", "contact", "active"), \ |
| 213 |
|
|
"Initialize the contact item.\n\n" \ |
| 214 |
|
|
":param name: contact name\n" \ |
| 215 |
|
|
":param contact: contact model\n" \ |
| 216 |
|
|
":param active: True if the contact is activated (default true)")) \ |
| 217 |
|
|
.def(ContactItemVisitor<Item>()) \ |
| 218 |
|
|
.def(CastVisitor<Item>()) \ |
| 219 |
|
|
.def(PrintableVisitor<Item>()) \ |
| 220 |
|
|
.def(CopyableVisitor<Item>()); |
| 221 |
|
|
|
| 222 |
|
|
#define CROCODDYL_CONTACT_MODEL_MULTIPLE_PYTHON_BINDINGS(Scalar) \ |
| 223 |
|
|
typedef ContactModelMultipleTpl<Scalar> Model; \ |
| 224 |
|
|
typedef Model::StateMultibody State; \ |
| 225 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 226 |
|
|
bp::class_<Model>( \ |
| 227 |
|
|
"ContactModelMultiple", \ |
| 228 |
|
|
bp::init<std::shared_ptr<State>, bp::optional<std::size_t>>( \ |
| 229 |
|
|
bp::args("self", "state", "nu"), \ |
| 230 |
|
|
"Initialize the multiple contact model.\n\n" \ |
| 231 |
|
|
":param state: state of the multibody system\n" \ |
| 232 |
|
|
":param nu: dimension of control vector")) \ |
| 233 |
|
|
.def(ContactModelMultipleVisitor<Model>()) \ |
| 234 |
|
|
.def(CastVisitor<Model>()) \ |
| 235 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 236 |
|
|
.def(CopyableVisitor<Model>()); |
| 237 |
|
|
|
| 238 |
|
|
#define CROCODDYL_CONTACT_DATA_MULTIPLE_PYTHON_BINDINGS(Scalar) \ |
| 239 |
|
|
typedef ContactDataMultipleTpl<Scalar> Data; \ |
| 240 |
|
|
typedef ContactModelMultipleTpl<Scalar> Model; \ |
| 241 |
|
|
typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
| 242 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 243 |
|
|
bp::class_<Data>( \ |
| 244 |
|
|
"ContactDataMultiple", "Data class for multiple contacts.\n\n", \ |
| 245 |
|
|
bp::init<Model*, PinocchioData*>( \ |
| 246 |
|
|
bp::args("self", "model", "data"), \ |
| 247 |
|
|
"Create multicontact data.\n\n" \ |
| 248 |
|
|
":param model: multicontact model\n" \ |
| 249 |
|
|
":param data: Pinocchio data")[bp::with_custodian_and_ward< \ |
| 250 |
|
|
1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
| 251 |
|
|
.def(ContactDataMultipleVisitor<Data>()) \ |
| 252 |
|
|
.def(CopyableVisitor<Data>()); |
| 253 |
|
|
|
| 254 |
|
✗ |
void exposeContactMultiple() { |
| 255 |
|
✗ |
CROCODDYL_CONTACT_ITEM_PYTHON_BINDINGS(double) |
| 256 |
|
✗ |
CROCODDYL_CONTACT_MODEL_MULTIPLE_PYTHON_BINDINGS(double) |
| 257 |
|
✗ |
CROCODDYL_CONTACT_DATA_MULTIPLE_PYTHON_BINDINGS(double) |
| 258 |
|
|
} |
| 259 |
|
|
|
| 260 |
|
|
} // namespace python |
| 261 |
|
|
} // namespace crocoddyl |
| 262 |
|
|
|