| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/constraints/residual.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 25 | 27 | 92.6% |
| Branches: | 20 | 40 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2024, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/core/constraints/residual.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/core.hpp" | ||
| 12 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeConstraintResidual() { | |
| 18 | 10 | bp::register_ptr_to_python<boost::shared_ptr<ConstraintModelResidual> >(); | |
| 19 | |||
| 20 |
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10 | bp::class_<ConstraintModelResidual, bp::bases<ConstraintModelAbstract> >( |
| 21 | "ConstraintModelResidual", | ||
| 22 | "This defines equality / inequality constraints based on a residual " | ||
| 23 | "vector and its bounds.", | ||
| 24 |
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10 | bp::init<boost::shared_ptr<StateAbstract>, |
| 25 | boost::shared_ptr<ResidualModelAbstract>, Eigen::VectorXd, | ||
| 26 | Eigen::VectorXd, bp::optional<bool> >( | ||
| 27 | 20 | bp::args("self", "state", "residual", "lower", "upper", "T_act"), | |
| 28 | "Initialize the residual constraint model as an inequality " | ||
| 29 | "constraint.\n\n" | ||
| 30 | ":param state: state description\n" | ||
| 31 | ":param residual: residual model\n" | ||
| 32 | ":param lower: lower bound\n" | ||
| 33 | ":param upper: upper bound\n" | ||
| 34 | ":param T_act: false if we want to deactivate the residual at the " | ||
| 35 | "terminal node (default true)")) | ||
| 36 |
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10 | .def(bp::init<boost::shared_ptr<StateAbstract>, |
| 37 | boost::shared_ptr<ResidualModelAbstract>, | ||
| 38 | bp::optional<bool> >( | ||
| 39 |
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20 | bp::args("self", "state", "residual", "T_act"), |
| 40 | "Initialize the residual constraint model as an equality " | ||
| 41 | "constraint.\n\n" | ||
| 42 | ":param state: state description\n" | ||
| 43 | ":param residual: residual model\n" | ||
| 44 | ":param T_act: false if we want to deactivate the residual at the " | ||
| 45 | "terminal node (default true)")) | ||
| 46 | .def<void (ConstraintModelResidual::*)( | ||
| 47 | const boost::shared_ptr<ConstraintDataAbstract>&, | ||
| 48 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 49 | 20 | const Eigen::Ref<const Eigen::VectorXd>&)>( | |
| 50 | "calc", &ConstraintModelResidual::calc, | ||
| 51 |
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20 | bp::args("self", "data", "x", "u"), |
| 52 | "Compute the residual constraint.\n\n" | ||
| 53 | ":param data: constraint data\n" | ||
| 54 | ":param x: state point (dim. state.nx)\n" | ||
| 55 | ":param u: control input (dim. nu)") | ||
| 56 | .def<void (ConstraintModelResidual::*)( | ||
| 57 | const boost::shared_ptr<ConstraintDataAbstract>&, | ||
| 58 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 59 |
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20 | "calc", &ConstraintModelAbstract::calc, bp::args("self", "data", "x"), |
| 60 | "Compute the residual constraint based on state only.\n\n" | ||
| 61 | "It updates the constraint based on the state only.\n" | ||
| 62 | "This function is commonly used in the terminal nodes of an optimal " | ||
| 63 | "control problem.\n" | ||
| 64 | ":param data: constraint data\n" | ||
| 65 | ":param x: state point (dim. state.nx)") | ||
| 66 | .def<void (ConstraintModelResidual::*)( | ||
| 67 | const boost::shared_ptr<ConstraintDataAbstract>&, | ||
| 68 | const Eigen::Ref<const Eigen::VectorXd>&, | ||
| 69 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 70 | "calcDiff", &ConstraintModelResidual::calcDiff, | ||
| 71 |
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20 | bp::args("self", "data", "x", "u"), |
| 72 | "Compute the derivatives of the residual constraint.\n\n" | ||
| 73 | "It assumes that calc has been run first.\n" | ||
| 74 | ":param data: constraint data\n" | ||
| 75 | ":param x: state point (dim. state.nx)\n" | ||
| 76 | ":param u: control input (dim. nu)\n") | ||
| 77 | .def<void (ConstraintModelResidual::*)( | ||
| 78 | const boost::shared_ptr<ConstraintDataAbstract>&, | ||
| 79 |
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10 | const Eigen::Ref<const Eigen::VectorXd>&)>( |
| 80 | "calcDiff", &ConstraintModelAbstract::calcDiff, | ||
| 81 |
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20 | bp::args("self", "data", "x"), |
| 82 | "Compute the derivatives of the residual constraint with respect to " | ||
| 83 | "the state only.\n\n" | ||
| 84 | "It updates the Jacobian of the constraint function based on the " | ||
| 85 | "state only.\n" | ||
| 86 | "This function is commonly used in the terminal nodes of an optimal " | ||
| 87 | "control problem.\n" | ||
| 88 | ":param data: constraint data\n" | ||
| 89 | ":param x: state point (dim. state.nx)") | ||
| 90 |
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20 | .def("createData", &ConstraintModelResidual::createData, |
| 91 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 92 |
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20 | bp::args("self", "data"), |
| 93 | "Create the residual constraint data.\n\n" | ||
| 94 | "Each constraint model has its own data that needs to be allocated. " | ||
| 95 | "This function\n" | ||
| 96 | "returns the allocated data for a predefined constraint.\n" | ||
| 97 | ":param data: shared data\n" | ||
| 98 | ":return constraint data.") | ||
| 99 |
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10 | .def(CopyableVisitor<ConstraintModelResidual>()); |
| 100 | |||
| 101 | 10 | bp::register_ptr_to_python<boost::shared_ptr<ConstraintDataResidual> >(); | |
| 102 | |||
| 103 |
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10 | bp::class_<ConstraintDataResidual, bp::bases<ConstraintDataAbstract> >( |
| 104 | "ConstraintDataResidual", "Data for residual constraint.\n\n", | ||
| 105 |
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10 | bp::init<ConstraintModelResidual*, DataCollectorAbstract*>( |
| 106 | 10 | bp::args("self", "model", "data"), | |
| 107 | "Create residual constraint data.\n\n" | ||
| 108 | ":param model: residual constraint model\n" | ||
| 109 | ✗ | ":param data: shared data")[bp::with_custodian_and_ward< | |
| 110 |
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20 | 1, 2, bp::with_custodian_and_ward<1, 3> >()]) |
| 111 |
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10 | .def(CopyableVisitor<ConstraintDataResidual>()); |
| 112 | 10 | } | |
| 113 | |||
| 114 | } // namespace python | ||
| 115 | } // namespace crocoddyl | ||
| 116 |