| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/controls/poly-one.cpp |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 29 | 29 | 100.0% |
| Branches: | 22 | 44 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, University of Edinburgh, University of Trento | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/controls/poly-one.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/control-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | 10 | void exposeControlParametrizationPolyOne() { | |
| 20 | bp::register_ptr_to_python< | ||
| 21 | 10 | std::shared_ptr<ControlParametrizationModelPolyOne> >(); | |
| 22 | |||
| 23 |
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10 | bp::class_<ControlParametrizationModelPolyOne, |
| 24 | bp::bases<ControlParametrizationModelAbstract> >( | ||
| 25 | "ControlParametrizationModelPolyOne", | ||
| 26 | "Linear polynomial control.\n\n" | ||
| 27 | "This control is a linear function of time (normalized in [0,1])." | ||
| 28 | "The first half of the parameter vector contains the initial value of " | ||
| 29 | "the differential control w, " | ||
| 30 | "whereas the second half contains the value of w at t=0.5.", | ||
| 31 |
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10 | bp::init<std::size_t>( |
| 32 | 20 | bp::args("self", "nw"), | |
| 33 | "Initialize the control dimensions.\n\n" | ||
| 34 | ":param nw: dimension of differential control space")) | ||
| 35 | .def<void (ControlParametrizationModelPolyOne::*)( | ||
| 36 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 37 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 38 | "calc", &ControlParametrizationModelPolyOne::calc, | ||
| 39 |
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20 | bp::args("self", "data", "t", "u"), |
| 40 | "Compute the control value.\n\n" | ||
| 41 | ":param data: control-parametrization data\n" | ||
| 42 | ":param t: normalized time in [0, 1]\n" | ||
| 43 | ":param u: control parameters (dim control.nu)") | ||
| 44 | .def<void (ControlParametrizationModelPolyOne::*)( | ||
| 45 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 46 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 47 | "calcDiff", &ControlParametrizationModelPolyOne::calcDiff, | ||
| 48 |
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20 | bp::args("self", "data", "t", "u"), |
| 49 | "Compute the Jacobian of the control value with respect to the " | ||
| 50 | "control parameters.\n" | ||
| 51 | "It assumes that calc has been run first.\n\n" | ||
| 52 | ":param data: control-parametrization data\n" | ||
| 53 | ":param t: normalized time in [0, 1]\n" | ||
| 54 | ":param u: control parameters (dim control.nu)") | ||
| 55 |
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10 | .def("createData", &ControlParametrizationModelPolyOne::createData, |
| 56 |
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20 | bp::args("self"), "Create the poly-one data.") |
| 57 | .def<void (ControlParametrizationModelPolyOne::*)( | ||
| 58 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 59 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 60 | "params", &ControlParametrizationModelPolyOne::params, | ||
| 61 |
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20 | bp::args("self", "data", "t", "w"), |
| 62 | "Compute the control parameters.\n\n" | ||
| 63 | ":param data: control-parametrization data\n" | ||
| 64 | ":param t: normalized time in [0, 1]\n" | ||
| 65 | ":param w: control value (dim control.nw)") | ||
| 66 |
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10 | .def("convertBounds", &ControlParametrizationModelPolyOne::convertBounds, |
| 67 |
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20 | bp::args("self", "w_lb", "w_ub"), |
| 68 | "Convert the bounds on the control to bounds on the control " | ||
| 69 | "parameters.\n\n" | ||
| 70 | ":param w_lb: lower bounds on u (dim control.nw).\n" | ||
| 71 | ":param w_ub: upper bounds on u (dim control.nw).\n" | ||
| 72 | ":return p_lb, p_ub: lower and upper bounds on the control " | ||
| 73 | "parameters (dim control.nu).") | ||
| 74 |
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10 | .def("multiplyByJacobian", |
| 75 | &ControlParametrizationModelPolyOne::multiplyByJacobian_J, | ||
| 76 |
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20 | bp::args("self", "data", "A"), |
| 77 | "Compute the product between the given matrix A and the derivative " | ||
| 78 | "of the control with respect to the " | ||
| 79 | "parameters.\n\n" | ||
| 80 | "It assumes that calc has been run first.\n" | ||
| 81 | ":param data: control-parametrization data\n" | ||
| 82 | ":param A: matrix to multiply (dim na x control.nw)\n" | ||
| 83 | ":return Product between A and the partial derivative of the value " | ||
| 84 | "function (dim na x control.nu)") | ||
| 85 |
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10 | .def("multiplyJacobianTransposeBy", |
| 86 | &ControlParametrizationModelPolyOne::multiplyJacobianTransposeBy_J, | ||
| 87 |
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20 | bp::args("self", "data", "A"), |
| 88 | "Compute the product between the transpose of the derivative of the " | ||
| 89 | "control with respect to the parameters\n" | ||
| 90 | "and a given matrix A.\n\n" | ||
| 91 | "It assumes that calc has been run first.\n" | ||
| 92 | ":param data: control-parametrization data\n" | ||
| 93 | ":param A: matrix to multiply (dim control.nw x na)\n" | ||
| 94 | ":return Product between the partial derivative of the value " | ||
| 95 | "function (transposed) and A (dim control.nu x " | ||
| 96 | "na)") | ||
| 97 |
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10 | .def(CopyableVisitor<ControlParametrizationModelPolyOne>()); |
| 98 | |||
| 99 | boost::python::register_ptr_to_python< | ||
| 100 | 10 | std::shared_ptr<ControlParametrizationDataPolyOne> >(); | |
| 101 | |||
| 102 |
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10 | bp::class_<ControlParametrizationDataPolyOne, |
| 103 | bp::bases<ControlParametrizationDataAbstract> >( | ||
| 104 | "ControlParametrizationDataPolyOne", | ||
| 105 | "Control-parametrization data for the linear polynomial control.", | ||
| 106 |
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10 | bp::init<ControlParametrizationModelPolyOne*>( |
| 107 | 20 | bp::args("self", "model"), | |
| 108 | "Create control-parametrization data.\n\n" | ||
| 109 | ":param model: linear polynomial control model")) | ||
| 110 |
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10 | .add_property("c", |
| 111 |
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10 | bp::make_getter(&ControlParametrizationDataPolyOne::c, |
| 112 | 10 | bp::return_internal_reference<>()), | |
| 113 | "polynomial coefficients of the linear control model that " | ||
| 114 | "depends on time") | ||
| 115 |
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10 | .def(CopyableVisitor<ControlParametrizationDataPolyOne>()); |
| 116 | 10 | } | |
| 117 | |||
| 118 | } // namespace python | ||
| 119 | } // namespace crocoddyl | ||
| 120 |