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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_RESIDUAL_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_RESIDUAL_BASE_HPP_ |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename _Scalar> |
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class ResidualModelAbstractTpl_wrap |
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: public ResidualModelAbstractTpl<_Scalar>, |
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public bp::wrapper<ResidualModelAbstractTpl<_Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelAbstractTpl_wrap) |
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typedef _Scalar Scalar; |
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typedef typename ScalarSelector<Scalar>::type ScalarType; |
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typedef typename crocoddyl::ResidualModelAbstractTpl<Scalar> ResidualModel; |
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typedef typename crocoddyl::ResidualDataAbstractTpl<Scalar> ResidualData; |
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typedef typename crocoddyl::StateAbstractTpl<Scalar> State; |
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typedef typename ResidualModel::CostDataAbstract CostData; |
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typedef typename ResidualModel::ActivationDataAbstract ActivationData; |
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typedef typename ResidualModel::DataCollectorAbstract DataCollectorAbstract; |
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typedef typename ResidualModel::VectorXs VectorXs; |
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using ResidualModel::nr_; |
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using ResidualModel::nu_; |
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using ResidualModel::q_dependent_; |
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using ResidualModel::state_; |
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using ResidualModel::u_dependent_; |
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using ResidualModel::unone_; |
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using ResidualModel::v_dependent_; |
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ResidualModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t nr, const std::size_t nu, |
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const bool q_dependent = true, |
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const bool v_dependent = true, |
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const bool u_dependent = true) |
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: ResidualModel(state, nr, nu, q_dependent, v_dependent, u_dependent), |
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bp::wrapper<ResidualModel>() { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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ResidualModelAbstractTpl_wrap(std::shared_ptr<State> state, |
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const std::size_t nr, |
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const bool q_dependent = true, |
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const bool v_dependent = true, |
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const bool u_dependent = true) |
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: ResidualModel(state, nr, q_dependent, v_dependent, u_dependent), |
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bp::wrapper<ResidualModel>() { |
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unone_ = VectorXs::Constant(nu_, Scalar(NAN)); |
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} |
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void calc(const std::shared_ptr<ResidualData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x, |
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(VectorXs)u); |
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} |
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} |
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void calcDiff(const std::shared_ptr<ResidualData>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (std::isnan( |
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scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x); |
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} else { |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)x, (VectorXs)u); |
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} |
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} |
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std::shared_ptr<ResidualData> createData( |
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DataCollectorAbstract* const data) override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ResidualData>>(createData.ptr(), |
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boost::ref(data)); |
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} |
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return ResidualModel::createData(data); |
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} |
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std::shared_ptr<ResidualData> default_createData( |
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DataCollectorAbstract* const data) { |
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return this->ResidualModel::createData(data); |
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} |
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void calcCostDiff(const std::shared_ptr<CostData>& cdata, |
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const std::shared_ptr<ResidualData>& rdata, |
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const std::shared_ptr<ActivationData>& adata, |
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const bool update_u = true) override { |
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if (boost::python::override calcCostDiff = |
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this->get_override("calcCostDiff")) { |
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return bp::call<void>(calcCostDiff.ptr(), boost::ref(cdata), |
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boost::ref(rdata), boost::ref(adata), update_u); |
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} |
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return ResidualModel::calcCostDiff(cdata, rdata, adata, update_u); |
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} |
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void default_calcCostDiff(const std::shared_ptr<CostData>& cdata, |
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const std::shared_ptr<ResidualData>& rdata, |
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const std::shared_ptr<ActivationData>& adata, |
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const bool update_u) { |
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return this->ResidualModel::calcCostDiff(cdata, rdata, adata, update_u); |
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} |
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void default_calcCostDiff_noupdate_u( |
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const std::shared_ptr<CostData>& cdata, |
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const std::shared_ptr<ResidualData>& rdata, |
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const std::shared_ptr<ActivationData>& adata) { |
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return this->ResidualModel::calcCostDiff(cdata, rdata, adata); |
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} |
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template <typename NewScalar> |
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ResidualModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef ResidualModelAbstractTpl_wrap<NewScalar> ReturnType; |
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ReturnType ret(state_->template cast<NewScalar>(), nr_, nu_, q_dependent_, |
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v_dependent_, u_dependent_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_RESIDUAL_BASE_HPP_ |
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