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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, University of Trento |
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// 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 double |
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#include "crocoddyl/core/controls/poly-one.hpp" |
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#include "python/crocoddyl/core/control-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ControlParametrizationModelPolyOneVisitor |
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: public bp::def_visitor<ControlParametrizationModelPolyOneVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::ControlParametrizationDataAbstract Data; |
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typedef typename Model::VectorXs VectorXs; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Scalar, |
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const Eigen::Ref<const VectorXs>&) const>(&Model::calc), |
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bp::args("self", "data", "t", "u"), |
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"Compute the control value.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param u: control parameters (dim control.nu)") |
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.def("calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Scalar, |
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const Eigen::Ref<const VectorXs>&) const>(&Model::calcDiff), |
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bp::args("self", "data", "t", "u"), |
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"Compute the Jacobian of the control value with respect to the " |
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"control parameters.\n\n" |
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"It assumes that calc has been run first.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param u: control parameters (dim control.nu)") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the poly-one data.") |
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.def("params", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Scalar, |
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const Eigen::Ref<const VectorXs>&) const>(&Model::params), |
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bp::args("self", "data", "t", "w"), |
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"Compute the control parameters.\n\n" |
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":param data: control-parametrization data\n" |
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":param t: normalized time in [0, 1]\n" |
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":param w: control value (dim control.nw)") |
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.def("convertBounds", &Model::convertBounds, |
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bp::args("self", "w_lb", "w_ub"), |
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"Convert the bounds on the control to bounds on the control " |
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"parameters.\n\n" |
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":param w_lb: lower bounds on u (dim control.nw).\n" |
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":param w_ub: upper bounds on u (dim control.nw).\n" |
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":return p_lb, p_ub: lower and upper bounds on the control " |
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"parameters (dim control.nu).") |
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.def( |
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"multiplyByJacobian", &Model::multiplyByJacobian_J, |
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bp::args("self", "data", "A"), |
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"Compute the product between the given matrix A and the derivative " |
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"of the control with respect to the parameters.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim na x control.nw)\n" |
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":return Product between A and the partial derivative of the value " |
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"function (dim na x control.nu)") |
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.def("multiplyJacobianTransposeBy", |
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&Model::multiplyJacobianTransposeBy_J, |
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bp::args("self", "data", "A"), |
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"Compute the product between the transpose of the derivative of " |
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"the control with respect to the parameters and a given matrix " |
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"A.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: control-parametrization data\n" |
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":param A: matrix to multiply (dim control.nw x na)\n" |
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":return Product between the partial derivative of the value " |
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"function (transposed) and A (dim control.nu x " |
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"na)"); |
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} |
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}; |
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template <typename Data> |
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struct ControlParametrizationDataPolyOneVisitor |
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: public bp::def_visitor<ControlParametrizationDataPolyOneVisitor<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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"c", bp::make_getter(&Data::c, bp::return_internal_reference<>()), |
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"polynomial coefficients of the linear control model that depends on " |
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"time"); |
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} |
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}; |
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#define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYONE_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ControlParametrizationModelPolyOneTpl<Scalar> Model; \ |
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typedef ControlParametrizationModelAbstractTpl<Scalar> ModelBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ControlParametrizationModelPolyOne", \ |
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"Linear polynomial control.\n\n" \ |
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"This control is a linear function of time (normalized in [0,1]). The " \ |
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"first half of the parameter vector contains the initial value of the " \ |
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"differential control w, whereas the second half contains the value of " \ |
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"w at t=0.5.", \ |
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bp::init<std::size_t>( \ |
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bp::args("self", "nw"), \ |
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"Initialize the control dimensions.\n\n" \ |
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":param nw: dimension of differential control space")) \ |
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.def(ControlParametrizationModelPolyOneVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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#define CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYONE_PYTHON_BINDINGS(Scalar) \ |
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typedef ControlParametrizationDataPolyOneTpl<Scalar> Data; \ |
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typedef ControlParametrizationDataAbstractTpl<Scalar> DataBase; \ |
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typedef ControlParametrizationModelPolyOneTpl<Scalar> Model; \ |
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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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"ControlParametrizationDataPolyOne", \ |
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"Control-parametrization data for the linear polynomial control.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create control-parametrization data.\n\n" \ |
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":param model: linear polynomial control model")) \ |
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.def(ControlParametrizationDataPolyOneVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeControlParametrizationPolyOne() { |
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CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYONE_PYTHON_BINDINGS(double) |
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CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYONE_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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