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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 float |
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#include "crocoddyl/core/controls/poly-zero.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 ControlParametrizationModelPolyZeroVisitor |
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: public bp::def_visitor< |
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ControlParametrizationModelPolyZeroVisitor<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" |
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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-zero 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", "u"), |
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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", "u_lb", "u_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 w (dim control.nw)\n" |
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":param w_ub: upper bounds on w (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 " |
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"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 " |
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"control with respect to the parameters\n" |
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"and a given matrix 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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#define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYZERO_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ControlParametrizationModelPolyZeroTpl<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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"ControlParametrizationModelPolyZero", \ |
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"Constant control.\n\n" \ |
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"This control is a constant. The parameter vector corresponds to the " \ |
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"constant value of the differential control w, that is w=p.", \ |
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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(ControlParametrizationModelPolyZeroVisitor<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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void exposeControlParametrizationPolyZero() { |
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CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYZERO_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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