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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, 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 "python/crocoddyl/core/residual-base.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 ResidualModelAbstractVisitor |
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: public bp::def_visitor<ResidualModelAbstractVisitor<Model>> { |
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typedef typename Model::ResidualModel ResidualModel; |
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typedef typename Model::ResidualData ResidualData; |
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typedef typename Model::State State; |
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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(bp::init<std::shared_ptr<State>, std::size_t, |
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bp::optional<bool, bool, bool>>( |
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bp::args("self", "state", "nr", "q_dependent", "v_dependent", |
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"u_dependent"), |
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"Initialize the cost model.\n\n" |
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":param state: state description\n" |
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":param nr: dimension of the residual vector\n" |
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":param q_dependent: define if the residual function depends on " |
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"q (default true)\n" |
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":param v_dependent: define if the residual function depends on " |
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"v (default true)\n" |
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":param u_dependent: define if the residual function depends on " |
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"u (default true)")) |
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.def("calc", pure_virtual(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the residual vector.\n\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def("calc", |
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static_cast<void (ResidualModel::*)( |
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const std::shared_ptr<ResidualData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ResidualModel::calc), |
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bp::args("self", "data", "x"), |
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"Compute the residual vector for nodes that depends only on the " |
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"state.\n\n" |
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"This function is used in the terminal nodes of an optimal " |
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"control problem. This is the reason why it updates the residual " |
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"vector based on the state only.\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the residual function.\n\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def("calcDiff", |
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static_cast<void (ResidualModel::*)( |
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const std::shared_ptr<ResidualData>&, |
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const Eigen::Ref<const VectorXs>&)>(&ResidualModel::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the Jacobian of the residual functions with respect to " |
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"the state only.\n\n" |
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"This function is used in the terminal nodes of an optimal " |
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"control problem. This is the reason why it updates the residual " |
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"vector based on the state only.\n" |
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":param data: residual data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &Model::createData, &Model::default_createData, |
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bp::args("self"), |
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"Create the residual data.\n\n" |
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"Each residual model might has its own data that needs to be " |
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"allocated.") |
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.def("calcCostDiff", &Model::calcCostDiff, &Model::default_calcCostDiff, |
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bp::args("self", "cdata", "rdata", "adata", "update_u"), |
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"Compute the derivative of the cost function.\n\n" |
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"This function assumes that the derivatives of the activation and " |
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"residual are computed via calcDiff functions.\n" |
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":param cdata: cost data\n" |
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":param rdata: residual data\n" |
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":param adata: activation data\n" |
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":param update_u: update the derivative of the cost function " |
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"w.r.t. to the control if True.") |
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.def("calcCostDiff", &Model::default_calcCostDiff_noupdate_u) |
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.add_property( |
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"state", |
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bp::make_function(&Model::get_state, |
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bp::return_value_policy<bp::return_by_value>()), |
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"state") |
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.add_property("nr", bp::make_function(&Model::get_nr), |
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"dimension of residual vector") |
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.add_property("nu", bp::make_function(&Model::get_nu), |
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"dimension of control vector") |
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.add_property( |
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"q_dependent", bp::make_function(&Model::get_q_dependent), |
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"flag that indicates if the residual function depends on q") |
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.add_property( |
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"v_dependent", bp::make_function(&Model::get_v_dependent), |
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"flag that indicates if the residual function depends on v") |
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.add_property( |
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"u_dependent", bp::make_function(&Model::get_u_dependent), |
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"flag that indicates if the residual function depends on u"); |
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} |
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}; |
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template <typename Data> |
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struct ResidualDataAbstractVisitor |
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: public bp::def_visitor<ResidualDataAbstractVisitor<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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"shared", |
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bp::make_getter(&Data::shared, bp::return_internal_reference<>()), |
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"shared data") |
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.add_property( |
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"r", bp::make_getter(&Data::r, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::r), "residual vector") |
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.add_property( |
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"Rx", bp::make_getter(&Data::Rx, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Rx), "Jacobian of the residual") |
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.add_property( |
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"Ru", bp::make_getter(&Data::Ru, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Ru), "Jacobian of the residual") |
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.add_property( |
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"Arr_Rx", |
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bp::make_getter(&Data::Arr_Rx, bp::return_internal_reference<>()), |
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"Intermediate product of Arr (2nd deriv of Activation) with Rx " |
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"(deriv of residue)") |
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.add_property( |
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"Arr_Ru", |
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bp::make_getter(&Data::Arr_Ru, bp::return_internal_reference<>()), |
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"Intermediate product of Arr (2nd deriv of Activation) with Ru " |
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"(deriv of residue)"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelAbstractTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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typedef StateAbstractTpl<Scalar> State; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ResidualModelAbstract", \ |
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"Abstract class for residual models.\n\n" \ |
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"A residual model defines a vector function r(x,u) in R^nr, where nr " \ |
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"describes its dimension in the the Euclidean space. For each residual " \ |
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"model, we need to provide ways of computing the residual vector and " \ |
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"its Jacobians. These computations are mainly carried out inside " \ |
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"calc() and calcDiff(), respectively.", \ |
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bp::init<std::shared_ptr<State>, std::size_t, std::size_t, \ |
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bp::optional<bool, bool, bool>>( \ |
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bp::args("self", "state", "nr", "nu", "q_dependent", "v_dependent", \ |
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"u_dependent"), \ |
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"Initialize the residual model.\n\n" \ |
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":param state: state description,\n" \ |
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":param nr: dimension of the residual vector\n" \ |
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":param nu: dimension of control vector (default state.nv)\n" \ |
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":param q_dependent: define if the residual function depends on q " \ |
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"(default true)\n" \ |
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":param v_dependent: define if the residual function depends on v " \ |
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"(default true)\n" \ |
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":param u_dependent: define if the residual function depends on u " \ |
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"(default true)")) \ |
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.def(ResidualModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_RESIDUAL_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualDataAbstractTpl<Scalar> Data; \ |
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typedef ResidualModelAbstractTpl<Scalar> Model; \ |
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typedef Model::DataCollectorAbstract DataCollector; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"ResidualDataAbstract", \ |
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"Abstract class for residual data.\n\n" \ |
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"In Crocoddyl, a residual data contains all the required information " \ |
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"for processing an user-defined residual models. The residual data " \ |
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"typically is allocated once and containts the residual vector and its " \ |
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"Jacobians.", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create common data shared between residual models.\n\n" \ |
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":param model: residual model\n" \ |
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":param data: shared data")[bp::with_custodian_and_ward< \ |
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1, 2, bp::with_custodian_and_ward<1, 3>>()]) \ |
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.def(ResidualDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeResidualAbstract() { |
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CROCODDYL_RESIDUAL_MODEL_ABSTRACT_PYTHON_BINDINGS(double) |
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CROCODDYL_RESIDUAL_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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