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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 | // Auto-generated file for double | ||
| 11 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | #include "python/crocoddyl/utils/map-converter.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct ImpulseItemVisitor : public bp::def_visitor<ImpulseItemVisitor<Model>> { | ||
| 21 | template <class PyClass> | ||
| 22 | ✗ | void visit(PyClass& cl) const { | |
| 23 | ✗ | cl.def_readwrite("name", &Model::name, "impulse name") | |
| 24 | ✗ | .add_property( | |
| 25 | "impulse", | ||
| 26 | ✗ | bp::make_getter(&Model::impulse, | |
| 27 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 28 | "impulse model") | ||
| 29 | ✗ | .def_readwrite("active", &Model::active, "impulse status") | |
| 30 | ✗ | .def(CopyableVisitor<Model>()); | |
| 31 | ✗ | } | |
| 32 | }; | ||
| 33 | |||
| 34 | template <typename Model> | ||
| 35 | struct ImpulseModelMultipleVisitor | ||
| 36 | : public bp::def_visitor<ImpulseModelMultipleVisitor<Model>> { | ||
| 37 | ✗ | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ImpulseModelMultiple_addImpulse_wrap, | |
| 38 | Model::addImpulse, 2, 3) | ||
| 39 | template <class PyClass> | ||
| 40 | ✗ | void visit(PyClass& cl) const { | |
| 41 | ✗ | cl.def( | |
| 42 | "addImpulse", &Model::addImpulse, | ||
| 43 | ✗ | ImpulseModelMultiple_addImpulse_wrap( | |
| 44 | bp::args("self", "name", "impulse", "active"), | ||
| 45 | "Add an impulse item.\n\n" | ||
| 46 | ":param name: impulse name\n" | ||
| 47 | ":param impulse: impulse model\n" | ||
| 48 | ":param active: True if the impulse is activated (default true)")) | ||
| 49 | ✗ | .def("removeImpulse", &Model::removeImpulse, bp::args("self", "name"), | |
| 50 | "Remove an impulse item.\n\n" | ||
| 51 | ":param name: impulse name") | ||
| 52 | ✗ | .def("changeImpulseStatus", &Model::changeImpulseStatus, | |
| 53 | bp::args("self", "name", "active"), | ||
| 54 | "Change the impulse status.\n\n" | ||
| 55 | ":param name: impulse name\n" | ||
| 56 | ":param active: impulse status (true for active and false for " | ||
| 57 | "inactive)") | ||
| 58 | ✗ | .def("calc", &Model::calc, bp::args("self", "data", "x"), | |
| 59 | "Compute the impulse Jacobian and drift.\n\n" | ||
| 60 | "The rigid impulse model throught acceleration-base holonomic " | ||
| 61 | "constraint of the impulse frame placement.\n" | ||
| 62 | ":param data: impulse data\n" | ||
| 63 | ":param x: state point (dim. state.nx)") | ||
| 64 | ✗ | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"), | |
| 65 | "Compute the derivatives of the impulse holonomic constraint.\n\n" | ||
| 66 | "The rigid impulse model throught acceleration-base holonomic " | ||
| 67 | "constraint of the impulse frame placement. It assumes that calc " | ||
| 68 | "has been run first.\n" | ||
| 69 | ":param data: impulse data\n" | ||
| 70 | ":param x: state point (dim. state.nx)") | ||
| 71 | ✗ | .def("updateVelocity", &Model::updateVelocity, | |
| 72 | bp::args("self", "data", "vnext"), | ||
| 73 | "Update the system velocity after impulse.\n\n" | ||
| 74 | ":param data: impulse data\n" | ||
| 75 | ":param vnext: velocity after impulse (dimension nv)") | ||
| 76 | ✗ | .def("updateForce", &Model::updateForce, | |
| 77 | bp::args("self", "data", "force"), | ||
| 78 | "Update the spatial impulse defined in frame coordinate.\n\n" | ||
| 79 | ":param data: impulse data\n" | ||
| 80 | ":param force: force vector (dimension ni)") | ||
| 81 | ✗ | .def("updateVelocityDiff", &Model::updateVelocityDiff, | |
| 82 | bp::args("self", "data", "dvnext_dx"), | ||
| 83 | "Update the Jacobian of the system velocity after impulse.\n\n" | ||
| 84 | ":param data: impulse data\n" | ||
| 85 | ":param dvnext_dx: Jacobian of the impulse velocity (dimension " | ||
| 86 | "nv*ndx)") | ||
| 87 | ✗ | .def("updateForceDiff", &Model::updateForceDiff, | |
| 88 | bp::args("self", "data", "df_dx"), | ||
| 89 | "Update the Jacobian of the spatial impulse defined in frame " | ||
| 90 | "coordinate.\n\n" | ||
| 91 | ":param data: impulse data\n" | ||
| 92 | ":param df_dx: Jacobian of the impulse force (dimension ni*ndx)") | ||
| 93 | ✗ | .def("updateRneaDiff", &Model::updateRneaDiff, | |
| 94 | bp::args("self", "data", "pinocchio"), | ||
| 95 | "Update the RNEA derivative dtau_dq by by adding the skew term " | ||
| 96 | "(necessary for impulses expressed in LOCAL_WORLD_ALIGNED / " | ||
| 97 | "WORLD).\n\n" | ||
| 98 | ":param data: impulse data\n" | ||
| 99 | ":param pinocchio: Pinocchio data") | ||
| 100 | ✗ | .def("createData", &Model::createData, | |
| 101 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 102 | bp::args("self", "data"), | ||
| 103 | "Create the total impulse data.\n\n" | ||
| 104 | ":param data: Pinocchio data\n" | ||
| 105 | ":return total impulse data.") | ||
| 106 | ✗ | .add_property( | |
| 107 | "impulses", | ||
| 108 | bp::make_function(&Model::get_impulses, | ||
| 109 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 110 | "stack of impulses") | ||
| 111 | ✗ | .add_property( | |
| 112 | "state", | ||
| 113 | bp::make_function(&Model::get_state, | ||
| 114 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 115 | "state of the multibody system") | ||
| 116 | ✗ | .add_property("nc", bp::make_function(&Model::get_nc), | |
| 117 | "dimension of the active impulse vector") | ||
| 118 | ✗ | .add_property("nc_total", bp::make_function(&Model::get_nc_total), | |
| 119 | "dimension of the total impulse vector") | ||
| 120 | ✗ | .add_property( | |
| 121 | "active_set", | ||
| 122 | bp::make_function(&Model::get_active_set, | ||
| 123 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 124 | "set of names of active impulse items") | ||
| 125 | ✗ | .add_property( | |
| 126 | "inactive_set", | ||
| 127 | bp::make_function(&Model::get_inactive_set, | ||
| 128 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 129 | "set of names of inactive impulse items") | ||
| 130 | ✗ | .def("getImpulseStatus", &Model::getImpulseStatus, | |
| 131 | bp::args("self", "name"), | ||
| 132 | "Return the impulse status of a given impulse name.\n\n" | ||
| 133 | ":param name: impulse name"); | ||
| 134 | ✗ | } | |
| 135 | }; | ||
| 136 | |||
| 137 | template <typename Data> | ||
| 138 | struct ImpulseDataMultipleVisitor | ||
| 139 | : public bp::def_visitor<ImpulseDataMultipleVisitor<Data>> { | ||
| 140 | template <class PyClass> | ||
| 141 | ✗ | void visit(PyClass& cl) const { | |
| 142 | ✗ | cl.add_property( | |
| 143 | ✗ | "Jc", bp::make_getter(&Data::Jc, bp::return_internal_reference<>()), | |
| 144 | ✗ | bp::make_setter(&Data::Jc), | |
| 145 | "Jacobian for all impulses (active and inactive)") | ||
| 146 | ✗ | .add_property( | |
| 147 | "dv0_dq", | ||
| 148 | ✗ | bp::make_getter(&Data::dv0_dq, bp::return_internal_reference<>()), | |
| 149 | ✗ | bp::make_setter(&Data::dv0_dq), | |
| 150 | "Jacobian of the previous impulse velocity (active and inactive)") | ||
| 151 | ✗ | .add_property( | |
| 152 | "vnext", | ||
| 153 | ✗ | bp::make_getter(&Data::vnext, bp::return_internal_reference<>()), | |
| 154 | ✗ | bp::make_setter(&Data::vnext), "impulse system velocity") | |
| 155 | ✗ | .add_property("dvnext_dx", | |
| 156 | ✗ | bp::make_getter(&Data::dvnext_dx, | |
| 157 | ✗ | bp::return_internal_reference<>()), | |
| 158 | ✗ | bp::make_setter(&Data::dvnext_dx), | |
| 159 | "Jacobian of the impulse system velocity") | ||
| 160 | ✗ | .add_property( | |
| 161 | "impulses", | ||
| 162 | ✗ | bp::make_getter(&Data::impulses, | |
| 163 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 164 | "stack of impulses data") | ||
| 165 | ✗ | .def_readwrite("fext", &Data::fext, "external spatial forces"); | |
| 166 | ✗ | } | |
| 167 | }; | ||
| 168 | |||
| 169 | #define CROCODDYL_IMPULSE_ITEM_PYTHON_BINDINGS(Scalar) \ | ||
| 170 | typedef ImpulseItemTpl<Scalar> Item; \ | ||
| 171 | typedef Item::ImpulseModelAbstract ImpulseModel; \ | ||
| 172 | typedef std::shared_ptr<Item> ImpulseItemPtr; \ | ||
| 173 | typedef ImpulseDataAbstractTpl<Scalar> ImpulseData; \ | ||
| 174 | typedef std::shared_ptr<ImpulseData> ImpulseDataPtr; \ | ||
| 175 | StdMapPythonVisitor< \ | ||
| 176 | std::string, ImpulseItemPtr, std::less<std::string>, \ | ||
| 177 | std::allocator<std::pair<const std::string, ImpulseItemPtr>>, \ | ||
| 178 | true>::expose("StdMap_ImpulseItem"); \ | ||
| 179 | StdMapPythonVisitor< \ | ||
| 180 | std::string, ImpulseDataPtr, std::less<std::string>, \ | ||
| 181 | std::allocator<std::pair<const std::string, ImpulseDataPtr>>, \ | ||
| 182 | true>::expose("StdMap_ImpulseData"); \ | ||
| 183 | bp::register_ptr_to_python<std::shared_ptr<Item>>(); \ | ||
| 184 | bp::class_<Item>( \ | ||
| 185 | "ImpulseItem", "Describe a impulse item.\n\n", \ | ||
| 186 | bp::init<std::string, std::shared_ptr<ImpulseModel>, \ | ||
| 187 | bp::optional<bool>>( \ | ||
| 188 | bp::args("self", "name", "impulse", "active"), \ | ||
| 189 | "Initialize the impulse item.\n\n" \ | ||
| 190 | ":param name: impulse name\n" \ | ||
| 191 | ":param impulse: impulse model\n" \ | ||
| 192 | ":param active: True if the impulse is activated (default true)")) \ | ||
| 193 | .def(ImpulseItemVisitor<Item>()) \ | ||
| 194 | .def(CastVisitor<Item>()) \ | ||
| 195 | .def(PrintableVisitor<Item>()) \ | ||
| 196 | .def(CopyableVisitor<Item>()); | ||
| 197 | |||
| 198 | #define CROCODDYL_IMPULSE_MODEL_MULTIPLE_PYTHON_BINDINGS(Scalar) \ | ||
| 199 | typedef ImpulseModelMultipleTpl<Scalar> Model; \ | ||
| 200 | typedef Model::StateMultibody State; \ | ||
| 201 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 202 | bp::class_<Model>("ImpulseModelMultiple", \ | ||
| 203 | bp::init<std::shared_ptr<State>>( \ | ||
| 204 | bp::args("self", "state"), \ | ||
| 205 | "Initialize the multiple impulse model.\n\n" \ | ||
| 206 | ":param state: state of the multibody system")) \ | ||
| 207 | .def(ImpulseModelMultipleVisitor<Model>()) \ | ||
| 208 | .def(CastVisitor<Model>()) \ | ||
| 209 | .def(PrintableVisitor<Model>()) \ | ||
| 210 | .def(CopyableVisitor<Model>()); | ||
| 211 | |||
| 212 | #define CROCODDYL_IMPULSE_DATA_MULTIPLE_PYTHON_BINDINGS(Scalar) \ | ||
| 213 | typedef ImpulseDataMultipleTpl<Scalar> Data; \ | ||
| 214 | typedef ImpulseModelMultipleTpl<Scalar> Model; \ | ||
| 215 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 216 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 217 | bp::class_<Data>( \ | ||
| 218 | "ImpulseDataMultiple", "Data class for multiple impulses.\n\n", \ | ||
| 219 | bp::init<Model*, PinocchioData*>( \ | ||
| 220 | bp::args("self", "model", "data"), \ | ||
| 221 | "Create multi-impulse data.\n\n" \ | ||
| 222 | ":param model: multi-impulse model\n" \ | ||
| 223 | ":param data: Pinocchio data")[bp::with_custodian_and_ward< \ | ||
| 224 | 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ | ||
| 225 | .def(ImpulseDataMultipleVisitor<Data>()) \ | ||
| 226 | .def(CopyableVisitor<Data>()); | ||
| 227 | |||
| 228 | ✗ | void exposeImpulseMultiple() { | |
| 229 | ✗ | CROCODDYL_IMPULSE_ITEM_PYTHON_BINDINGS(double) | |
| 230 | ✗ | CROCODDYL_IMPULSE_MODEL_MULTIPLE_PYTHON_BINDINGS(double) | |
| 231 | ✗ | CROCODDYL_IMPULSE_DATA_MULTIPLE_PYTHON_BINDINGS(double) | |
| 232 | ✗ | } | |
| 233 | |||
| 234 | } // namespace python | ||
| 235 | } // namespace crocoddyl | ||
| 236 |