| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/controls/poly-zero.cpp |
| Date: | 2025-02-24 23:41:29 |
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| Lines: | 23 | 23 | 100.0% |
| Branches: | 19 | 38 | 50.0% |
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| 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 | #include "crocoddyl/core/controls/poly-zero.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 exposeControlParametrizationPolyZero() { | |
| 20 | bp::register_ptr_to_python< | ||
| 21 | 10 | std::shared_ptr<ControlParametrizationModelPolyZero> >(); | |
| 22 | |||
| 23 |
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10 | bp::class_<ControlParametrizationModelPolyZero, |
| 24 | bp::bases<ControlParametrizationModelAbstract> >( | ||
| 25 | "ControlParametrizationModelPolyZero", | ||
| 26 | "Constant control.\n\n" | ||
| 27 | "This control is a constant." | ||
| 28 | "The parameter vector corresponds to the constant value of the " | ||
| 29 | "differential control w, that is w=p.", | ||
| 30 |
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10 | bp::init<std::size_t>( |
| 31 | 20 | bp::args("self", "nw"), | |
| 32 | "Initialize the control dimensions.\n\n" | ||
| 33 | ":param nw: dimension of differential control space")) | ||
| 34 | .def<void (ControlParametrizationModelPolyZero::*)( | ||
| 35 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 36 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 37 | "calc", &ControlParametrizationModelPolyZero::calc, | ||
| 38 |
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20 | bp::args("self", "data", "t", "u"), |
| 39 | "Compute the control value.\n\n" | ||
| 40 | ":param data: control-parametrization data\n" | ||
| 41 | ":param t: normalized time in [0, 1]\n" | ||
| 42 | ":param u: control parameters (dim control.nu)") | ||
| 43 | .def<void (ControlParametrizationModelPolyZero::*)( | ||
| 44 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 45 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 46 | "calcDiff", &ControlParametrizationModelPolyZero::calcDiff, | ||
| 47 |
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20 | bp::args("self", "data", "t", "u"), |
| 48 | "Compute the Jacobian of the control value with respect to the " | ||
| 49 | "control parameters.\n" | ||
| 50 | "It assumes that calc has been run first.\n\n" | ||
| 51 | ":param data: control-parametrization data\n" | ||
| 52 | ":param t: normalized time in [0, 1]\n" | ||
| 53 | ":param u: control parameters (dim control.nu)") | ||
| 54 |
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10 | .def("createData", &ControlParametrizationModelPolyZero::createData, |
| 55 |
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20 | bp::args("self"), "Create the poly-zero data.") |
| 56 | .def<void (ControlParametrizationModelPolyZero::*)( | ||
| 57 | const std::shared_ptr<ControlParametrizationDataAbstract>&, double, | ||
| 58 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&) const>( |
| 59 | "params", &ControlParametrizationModelPolyZero::params, | ||
| 60 |
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20 | bp::args("self", "data", "t", "u"), |
| 61 | "Compute the control parameters.\n\n" | ||
| 62 | ":param data: control-parametrization data\n" | ||
| 63 | ":param t: normalized time in [0, 1]\n" | ||
| 64 | ":param w: control value (dim control.nw)") | ||
| 65 |
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10 | .def("convertBounds", &ControlParametrizationModelPolyZero::convertBounds, |
| 66 |
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20 | bp::args("self", "u_lb", "u_ub"), |
| 67 | "Convert the bounds on the control to bounds on the control " | ||
| 68 | "parameters.\n\n" | ||
| 69 | ":param w_lb: lower bounds on w (dim control.nw)\n" | ||
| 70 | ":param w_ub: upper bounds on w (dim control.nw)\n" | ||
| 71 | ":return p_lb, p_ub: lower and upper bounds on the control " | ||
| 72 | "parameters (dim control.nu)") | ||
| 73 |
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10 | .def("multiplyByJacobian", |
| 74 | &ControlParametrizationModelPolyZero::multiplyByJacobian_J, | ||
| 75 |
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10 | ControlParametrizationModelAbstract_multiplyByJacobian_J_wrap( |
| 76 |
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20 | bp::args("self", "data", "A", "op"), |
| 77 | "Compute the product between the given matrix A and the " | ||
| 78 | "derivative " | ||
| 79 | "of the control with respect to the " | ||
| 80 | "parameters.\n\n" | ||
| 81 | "It assumes that calc has been run first.\n" | ||
| 82 | ":param data: control-parametrization data\n" | ||
| 83 | ":param A: matrix to multiply (dim na x control.nw)\n" | ||
| 84 | ":op assignment operator which sets, adds, or removes the given " | ||
| 85 | "results\n" | ||
| 86 | ":return Product between A and the partial derivative of the " | ||
| 87 | "value " | ||
| 88 | "function (dim na x control.nu)")) | ||
| 89 |
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10 | .def( |
| 90 | "multiplyJacobianTransposeBy", | ||
| 91 | &ControlParametrizationModelPolyZero::multiplyJacobianTransposeBy_J, | ||
| 92 |
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10 | ControlParametrizationModelAbstract_multiplyJacobianTransposeBy_J_wrap( |
| 93 |
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20 | bp::args("self", "data", "A", "op"), |
| 94 | "Compute the product between the transpose of the derivative of " | ||
| 95 | "the " | ||
| 96 | "control with respect to the parameters\n" | ||
| 97 | "and a given matrix A.\n\n" | ||
| 98 | "It assumes that calc has been run first.\n" | ||
| 99 | ":param data: control-parametrization data\n" | ||
| 100 | ":param A: matrix to multiply (dim control.nw x na)\n" | ||
| 101 | ":op assignment operator which sets, adds, or removes the given " | ||
| 102 | "results\n" | ||
| 103 | ":return Product between the partial derivative of the value " | ||
| 104 | "function (transposed) and A (dim control.nu x " | ||
| 105 | "na)")) | ||
| 106 |
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10 | .def(CopyableVisitor<ControlParametrizationModelPolyZero>()); |
| 107 | 10 | } | |
| 108 | |||
| 109 | } // namespace python | ||
| 110 | } // namespace crocoddyl | ||
| 111 |