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|---|---|---|---|
| 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 |