| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, 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 |
|
|
// Auto-generated file for double |
| 11 |
|
|
#include "crocoddyl/core/controls/poly-two-rk.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/core/control-base.hpp" |
| 14 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 15 |
|
|
#include "python/crocoddyl/utils/copyable.hpp" |
| 16 |
|
|
|
| 17 |
|
|
namespace crocoddyl { |
| 18 |
|
|
namespace python { |
| 19 |
|
|
|
| 20 |
|
|
template <typename Model> |
| 21 |
|
|
struct ControlParametrizationModelPolyTwoRKVisitor |
| 22 |
|
|
: public bp::def_visitor< |
| 23 |
|
|
ControlParametrizationModelPolyTwoRKVisitor<Model>> { |
| 24 |
|
|
typedef typename Model::Scalar Scalar; |
| 25 |
|
|
typedef typename Model::ControlParametrizationDataAbstract Data; |
| 26 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 27 |
|
|
template <class PyClass> |
| 28 |
|
✗ |
void visit(PyClass& cl) const { |
| 29 |
|
✗ |
cl.def("calc", |
| 30 |
|
|
static_cast<void (Model::*)( |
| 31 |
|
|
const std::shared_ptr<Data>&, const Scalar, |
| 32 |
|
|
const Eigen::Ref<const VectorXs>&) const>(&Model::calc), |
| 33 |
|
|
bp::args("self", "data", "t", "u"), |
| 34 |
|
|
bp::args("self", "data", "t", "u"), |
| 35 |
|
|
"Compute the control value.\n\n" |
| 36 |
|
|
":param data: poly-two-rk data\n" |
| 37 |
|
|
":param t: normalized time in [0, 1]\n" |
| 38 |
|
|
":param u: control parameters (dim control.nu)") |
| 39 |
|
✗ |
.def("calcDiff", |
| 40 |
|
|
static_cast<void (Model::*)( |
| 41 |
|
|
const std::shared_ptr<Data>&, const Scalar, |
| 42 |
|
|
const Eigen::Ref<const VectorXs>&) const>(&Model::calcDiff), |
| 43 |
|
|
bp::args("self", "data", "t", "u"), |
| 44 |
|
|
"Compute the Jacobian of the control value with respect to the " |
| 45 |
|
|
"control parameters.\n\n" |
| 46 |
|
|
"It assumes that calc has been run first.\n" |
| 47 |
|
|
":param data: poly-two-rk data\n" |
| 48 |
|
|
":param t: normalized time in [0, 1]\n" |
| 49 |
|
|
":param u: control parameters (dim control.nu)") |
| 50 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 51 |
|
|
"Create the poly-two-rk data.") |
| 52 |
|
✗ |
.def("params", |
| 53 |
|
|
static_cast<void (Model::*)( |
| 54 |
|
|
const std::shared_ptr<Data>&, const Scalar, |
| 55 |
|
|
const Eigen::Ref<const VectorXs>&) const>(&Model::params), |
| 56 |
|
|
bp::args("self", "data", "t", "w"), |
| 57 |
|
|
"Compute the control parameters.\n\n" |
| 58 |
|
|
":param data: poly-two-rk data\n" |
| 59 |
|
|
":param t: normalized time in [0, 1]\n" |
| 60 |
|
|
":param w: control value (dim control.nw)") |
| 61 |
|
✗ |
.def("convertBounds", &Model::convertBounds, |
| 62 |
|
|
bp::args("self", "w_lb", "w_ub"), |
| 63 |
|
|
"Convert the bounds on the control to bounds on the control " |
| 64 |
|
|
"parameters.\n\n" |
| 65 |
|
|
":param w_lb: lower bounds on w (dim control.nw)\n" |
| 66 |
|
|
":param w_ub: upper bounds on w (dim control.nw)\n" |
| 67 |
|
|
":return u_lb, u_ub: lower and upper bounds on the control " |
| 68 |
|
|
"parameters (dim control.nu)") |
| 69 |
|
✗ |
.def("multiplyByJacobian", &Model::multiplyByJacobian_J, |
| 70 |
|
|
bp::args("self", "data", "A"), |
| 71 |
|
|
"Compute the product between the given matrix A and the " |
| 72 |
|
|
"derivative of the control with respect to the parameters.\n\n" |
| 73 |
|
|
"It assumes that calc has been run first.\n" |
| 74 |
|
|
":param data: poly-two-rk data\n" |
| 75 |
|
|
":param A: matrix to multiply (dim na x control.nw)\n" |
| 76 |
|
|
":return Product between A and the partial derivative of the " |
| 77 |
|
|
"control (dim na x control.nu)") |
| 78 |
|
✗ |
.def("multiplyJacobianTransposeBy", |
| 79 |
|
|
&Model::multiplyJacobianTransposeBy_J, |
| 80 |
|
|
bp::args("self", "data", "A"), |
| 81 |
|
|
"Compute the product between the transpose of the derivative of " |
| 82 |
|
|
"the control with respect to the parameters and a given matrix " |
| 83 |
|
|
"A.\n\n" |
| 84 |
|
|
"It assumes that calc has been run first.\n" |
| 85 |
|
|
":param data: poly-two-rk data\n" |
| 86 |
|
|
":param A: matrix to multiply (dim control.nw x na)\n" |
| 87 |
|
|
":return Product between the partial derivative of the control " |
| 88 |
|
|
"(transposed) and A (dim control.nu x " |
| 89 |
|
|
"na)"); |
| 90 |
|
|
} |
| 91 |
|
|
}; |
| 92 |
|
|
|
| 93 |
|
|
template <typename Data> |
| 94 |
|
|
struct ControlParametrizationDataPolyTwoRKVisitor |
| 95 |
|
|
: public bp::def_visitor<ControlParametrizationDataPolyTwoRKVisitor<Data>> { |
| 96 |
|
|
template <class PyClass> |
| 97 |
|
✗ |
void visit(PyClass& cl) const { |
| 98 |
|
✗ |
cl.add_property( |
| 99 |
|
✗ |
"c", bp::make_getter(&Data::c, bp::return_internal_reference<>()), |
| 100 |
|
|
"polynomial coefficients of the second-order control model"); |
| 101 |
|
|
} |
| 102 |
|
|
}; |
| 103 |
|
|
|
| 104 |
|
|
#define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYTWORK_PYTHON_BINDINGS( \ |
| 105 |
|
|
Scalar) \ |
| 106 |
|
|
typedef ControlParametrizationModelPolyTwoRKTpl<Scalar> Model; \ |
| 107 |
|
|
typedef ControlParametrizationModelAbstractTpl<Scalar> ModelBase; \ |
| 108 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 109 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 110 |
|
|
"ControlParametrizationModelPolyTwoRK", \ |
| 111 |
|
|
"Second-order polynomial control for RK integrators.\n\n" \ |
| 112 |
|
|
"This control is a quadratic function of time (normalized in [0,1]). " \ |
| 113 |
|
|
"It comes in two versions, one specialized for RK3 integration, " \ |
| 114 |
|
|
"another for RK4 integration. The first third of the parameter vector " \ |
| 115 |
|
|
"contains the initial value of the differential control w, the second " \ |
| 116 |
|
|
"third contains the value of w at t=0.5 (for RK4) or 1/3 (for RK3), " \ |
| 117 |
|
|
"and the last third is the final value\n of w at time t=1 (for RK4) or " \ |
| 118 |
|
|
"2/3 (for RK3).", \ |
| 119 |
|
|
bp::init<std::size_t, RKType>( \ |
| 120 |
|
|
bp::args("self", "nw", "rktype"), \ |
| 121 |
|
|
"Initialize the control dimensions.\n\n" \ |
| 122 |
|
|
":param nw: dimension of differential control space\n" \ |
| 123 |
|
|
":param rktype: type of RK parametrization")) \ |
| 124 |
|
|
.def(ControlParametrizationModelPolyTwoRKVisitor<Model>()) \ |
| 125 |
|
|
.def(CastVisitor<Model>()) \ |
| 126 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 127 |
|
|
.def(CopyableVisitor<Model>()); |
| 128 |
|
|
|
| 129 |
|
|
#define CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYTWORK_PYTHON_BINDINGS( \ |
| 130 |
|
|
Scalar) \ |
| 131 |
|
|
typedef ControlParametrizationDataPolyTwoRKTpl<Scalar> Data; \ |
| 132 |
|
|
typedef ControlParametrizationDataAbstractTpl<Scalar> DataBase; \ |
| 133 |
|
|
typedef ControlParametrizationModelPolyTwoRKTpl<Scalar> Model; \ |
| 134 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 135 |
|
|
bp::class_<Data, bp::bases<DataBase>>( \ |
| 136 |
|
|
"ControlParametrizationDataPolyTwoRK", \ |
| 137 |
|
|
"Control-parametrization data for the second-order polynomial control.", \ |
| 138 |
|
|
bp::init<Model*>(bp::args("self", "model"), \ |
| 139 |
|
|
"Create control-parametrization data.\n\n" \ |
| 140 |
|
|
":param model: second-order polynomial control model")) \ |
| 141 |
|
|
.def(ControlParametrizationDataPolyTwoRKVisitor<Data>()) \ |
| 142 |
|
|
.def(CopyableVisitor<Data>()); |
| 143 |
|
|
|
| 144 |
|
✗ |
void exposeControlParametrizationPolyTwoRK() { |
| 145 |
|
✗ |
CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYTWORK_PYTHON_BINDINGS(double) |
| 146 |
|
✗ |
CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYTWORK_PYTHON_BINDINGS(double) |
| 147 |
|
|
} |
| 148 |
|
|
|
| 149 |
|
|
} // namespace python |
| 150 |
|
|
} // namespace crocoddyl |
| 151 |
|
|
|