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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 float |
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#include "crocoddyl/core/constraints/residual.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 Model> |
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struct ConstraintModelResidualVisitor |
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: public bp::def_visitor<ConstraintModelResidualVisitor<Model>> { |
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typedef typename Model::ConstraintDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::StateAbstract State; |
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typedef typename Model::ResidualModelAbstract ResidualModel; |
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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::shared_ptr<ResidualModel>, |
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bp::optional<bool>>( |
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bp::args("self", "state", "residual", "T_act"), |
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"Initialize the residual constraint model as an equality " |
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"constraint.\n\n" |
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":param state: state description\n" |
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":param residual: residual model\n" |
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":param T_act: false if we want to deactivate the residual at " |
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"the terminal node (default true)")) |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the residual constraint.\n\n" |
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":param data: constraint 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 (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calc), |
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bp::args("self", "data", "x"), |
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"Compute the residual constraint based on state only.\n\n" |
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"It updates the constraint based on the state only. This function " |
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"is commonly used in the terminal nodes of an optimal control " |
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"problem.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)") |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the residual constraint.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)\n") |
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.def("calcDiff", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calcDiff), |
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bp::args("self", "data", "x"), |
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"Compute the derivatives of the residual constraint with respect " |
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"to the state only.\n\n" |
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"It updates the Jacobian of the constraint function based on the " |
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"state only. This function is commonly used in the terminal nodes " |
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"of an optimal control problem.\n" |
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":param data: constraint data\n" |
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":param x: state point (dim. state.nx)") |
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.def("createData", &Model::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the residual constraint data.\n\n" |
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"Each constraint model has its own data that needs to be " |
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"allocated. This function returns the allocated data for a " |
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"predefined constraint.\n" |
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":param data: shared data\n" |
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":return constraint data."); |
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} |
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}; |
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#define CROCODDYL_CONSTRAINT_MODEL_RESIDUAL_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintModelResidualTpl<Scalar> Model; \ |
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typedef ConstraintModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename ModelBase::StateAbstract State; \ |
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typedef typename ModelBase::ResidualModelAbstract ResidualModel; \ |
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typedef typename ModelBase::VectorXs VectorXs; \ |
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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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"ConstraintModelResidual", \ |
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"This defines equality / inequality constraints based on a residual " \ |
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"vector and its bounds.", \ |
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bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>, \ |
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VectorXs, VectorXs, bp::optional<bool>>( \ |
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bp::args("self", "state", "residual", "lower", "upper", "T_act"), \ |
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"Initialize the residual constraint model as an inequality " \ |
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"constraint.\n\n" \ |
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":param state: state description\n" \ |
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":param residual: residual model\n" \ |
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":param lower: lower bound\n" \ |
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":param upper: upper bound\n" \ |
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":param T_act: false if we want to deactivate the residual at the " \ |
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"terminal node (default true)")) \ |
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.def(ConstraintModelResidualVisitor<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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#define CROCODDYL_CONSTRAINT_DATA_RESIDUAL_PYTHON_BINDINGS(Scalar) \ |
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typedef ConstraintDataResidualTpl<Scalar> Data; \ |
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typedef ConstraintDataAbstractTpl<Scalar> DataBase; \ |
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typedef ConstraintModelResidualTpl<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, bp::bases<DataBase>>( \ |
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"ConstraintDataResidual", "Data for residual constraint.\n\n", \ |
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bp::init<Model*, DataCollector*>( \ |
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bp::args("self", "model", "data"), \ |
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"Create residual constraint data.\n\n" \ |
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":param model: residual constraint 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(CopyableVisitor<Data>()); |
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void exposeConstraintResidual() { |
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CROCODDYL_CONSTRAINT_MODEL_RESIDUAL_PYTHON_BINDINGS(float) |
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CROCODDYL_CONSTRAINT_DATA_RESIDUAL_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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