| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, University of Edinburgh, University of Trento, |
| 5 |
|
|
// LAAS-CNRS, IRI: CSIC-UPC, Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
// Auto-generated file for double |
| 11 |
|
|
#include "crocoddyl/core/integrator/rk.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 14 |
|
|
#include "python/crocoddyl/core/integ-action-base.hpp" |
| 15 |
|
|
|
| 16 |
|
|
#define SCALAR_float64 |
| 17 |
|
|
|
| 18 |
|
|
namespace crocoddyl { |
| 19 |
|
|
namespace python { |
| 20 |
|
|
|
| 21 |
|
|
template <typename Model> |
| 22 |
|
|
struct IntegratedActionModelRKVisitor |
| 23 |
|
|
: public bp::def_visitor<IntegratedActionModelRKVisitor<Model>> { |
| 24 |
|
|
typedef typename Model::Scalar Scalar; |
| 25 |
|
|
typedef typename Model::ActionDataAbstract Data; |
| 26 |
|
|
typedef |
| 27 |
|
|
typename Model::DifferentialActionModelAbstract DifferentialActionModel; |
| 28 |
|
|
typedef typename Model::ControlParametrizationModelAbstract |
| 29 |
|
|
ControlParametrizationModel; |
| 30 |
|
|
typedef typename Model::VectorXs VectorXs; |
| 31 |
|
|
template <class PyClass> |
| 32 |
|
✗ |
void visit(PyClass& cl) const { |
| 33 |
|
✗ |
cl.def(bp::init<std::shared_ptr<DifferentialActionModel>, |
| 34 |
|
|
std::shared_ptr<ControlParametrizationModel>, RKType, |
| 35 |
|
|
bp::optional<Scalar, bool>>( |
| 36 |
|
|
bp::args("self", "diffModel", "control", "rktype", "stepTime", |
| 37 |
|
|
"withCostResidual"), |
| 38 |
|
|
"Initialize the RK integrator.\n\n" |
| 39 |
|
|
":param diffModel: differential action model\n" |
| 40 |
|
|
":param control: the control parametrization\n" |
| 41 |
|
|
":param rktype: type of RK integrator (options are two, three, " |
| 42 |
|
|
"and four)\n" |
| 43 |
|
|
":param stepTime: step time (default 1e-3)\n" |
| 44 |
|
|
":param withCostResidual: includes the cost residuals and " |
| 45 |
|
|
"derivatives (default True).")) |
| 46 |
|
✗ |
.def( |
| 47 |
|
|
"calc", |
| 48 |
|
|
static_cast<void (Model::*)( |
| 49 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 50 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
| 51 |
|
|
bp::args("self", "data", "x", "u"), |
| 52 |
|
|
"Compute the time-discrete evolution of a differential action " |
| 53 |
|
|
"model.\n\n" |
| 54 |
|
|
"It describes the time-discrete evolution of action model.\n" |
| 55 |
|
|
":param data: action data\n" |
| 56 |
|
|
":param x: state point (dim. state.nx)\n" |
| 57 |
|
|
":param u: control input (dim. nu)") |
| 58 |
|
✗ |
.def("calc", |
| 59 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 60 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 61 |
|
|
&Model::calc), |
| 62 |
|
|
bp::args("self", "data", "x")) |
| 63 |
|
✗ |
.def( |
| 64 |
|
|
"calcDiff", |
| 65 |
|
|
static_cast<void (Model::*)( |
| 66 |
|
|
const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
| 67 |
|
|
const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
| 68 |
|
|
bp::args("self", "data", "x", "u"), |
| 69 |
|
|
"Computes the derivatives of the integrated action model wrt state " |
| 70 |
|
|
"and control. \n\n" |
| 71 |
|
|
"This function builds a quadratic approximation of the action " |
| 72 |
|
|
"model (i.e. dynamical system and cost function). It assumes that " |
| 73 |
|
|
"calc has been run first.\n" |
| 74 |
|
|
":param data: action data\n" |
| 75 |
|
|
":param x: state point (dim. state.nx)\n" |
| 76 |
|
|
":param u: control input (dim. nu)") |
| 77 |
|
✗ |
.def("calcDiff", |
| 78 |
|
|
static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
| 79 |
|
|
const Eigen::Ref<const VectorXs>&)>( |
| 80 |
|
|
&Model::calcDiff), |
| 81 |
|
|
bp::args("self", "data", "x")) |
| 82 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 83 |
|
|
"Create the RK integrator data.") |
| 84 |
|
✗ |
.add_property( |
| 85 |
|
|
"ni", |
| 86 |
|
|
bp::make_function(&Model::get_ni, |
| 87 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 88 |
|
|
"number of nodes to be integrated") |
| 89 |
|
✗ |
.add_property( |
| 90 |
|
|
"ng", bp::make_function(&Model::get_ng), "number of equality constraints") |
| 91 |
|
✗ |
.add_property( |
| 92 |
|
|
"nh", bp::make_function(&Model::get_nh), "number of inequality constraints") |
| 93 |
|
✗ |
.add_property( |
| 94 |
|
|
"ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") |
| 95 |
|
✗ |
.add_property( |
| 96 |
|
|
"nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints"); |
| 97 |
|
|
} |
| 98 |
|
|
}; |
| 99 |
|
|
|
| 100 |
|
|
template <typename Data> |
| 101 |
|
|
struct IntegratedActionDataRKVisitor |
| 102 |
|
|
: public bp::def_visitor<IntegratedActionDataRKVisitor<Data>> { |
| 103 |
|
|
template <class PyClass> |
| 104 |
|
✗ |
void visit(PyClass& cl) const { |
| 105 |
|
✗ |
cl.add_property( |
| 106 |
|
|
"differential", |
| 107 |
|
|
bp::make_getter(&Data::differential, |
| 108 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 109 |
|
|
"list of differential action data") |
| 110 |
|
✗ |
.add_property( |
| 111 |
|
|
"control", |
| 112 |
|
|
bp::make_getter(&Data::control, |
| 113 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 114 |
|
|
"list of control parametrization data") |
| 115 |
|
✗ |
.add_property( |
| 116 |
|
|
"integral", |
| 117 |
|
|
bp::make_getter(&Data::integral, |
| 118 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 119 |
|
|
"list of RK terms related to the cost") |
| 120 |
|
✗ |
.add_property( |
| 121 |
|
✗ |
"dx", bp::make_getter(&Data::dx, bp::return_internal_reference<>()), |
| 122 |
|
|
"state rate.") |
| 123 |
|
✗ |
.add_property( |
| 124 |
|
✗ |
"ki", bp::make_getter(&Data::ki, bp::return_internal_reference<>()), |
| 125 |
|
|
"list of RK terms related to system dynamics") |
| 126 |
|
✗ |
.add_property( |
| 127 |
|
✗ |
"y", bp::make_getter(&Data::y, bp::return_internal_reference<>()), |
| 128 |
|
|
"list of states where f is evaluated in the RK integration") |
| 129 |
|
✗ |
.add_property( |
| 130 |
|
✗ |
"ws", bp::make_getter(&Data::ws, bp::return_internal_reference<>()), |
| 131 |
|
|
"control inputs evaluated in the RK integration") |
| 132 |
|
✗ |
.add_property( |
| 133 |
|
|
"dki_dx", |
| 134 |
|
✗ |
bp::make_getter(&Data::dki_dx, bp::return_internal_reference<>()), |
| 135 |
|
|
"list of partial derivatives of RK nodes with respect to the state " |
| 136 |
|
|
"of the RK integration. dki/dx") |
| 137 |
|
✗ |
.add_property( |
| 138 |
|
|
"dki_du", |
| 139 |
|
✗ |
bp::make_getter(&Data::dki_du, bp::return_internal_reference<>()), |
| 140 |
|
|
"list of partial derivatives of RK nodes with respect to the " |
| 141 |
|
|
"control parameters of the RK integration. dki/du") |
| 142 |
|
✗ |
.add_property( |
| 143 |
|
|
"dyi_dx", |
| 144 |
|
✗ |
bp::make_getter(&Data::dyi_dx, bp::return_internal_reference<>()), |
| 145 |
|
|
"list of partial derivatives of RK dynamics with respect to the " |
| 146 |
|
|
"state of the RK integrator. dyi/dx") |
| 147 |
|
✗ |
.add_property( |
| 148 |
|
|
"dyi_du", |
| 149 |
|
✗ |
bp::make_getter(&Data::dyi_du, bp::return_internal_reference<>()), |
| 150 |
|
|
"list of partial derivatives of RK dynamics with respect to the " |
| 151 |
|
|
"control parameters of the RK integrator. dyi/du") |
| 152 |
|
✗ |
.add_property( |
| 153 |
|
|
"dli_dx", |
| 154 |
|
✗ |
bp::make_getter(&Data::dli_dx, bp::return_internal_reference<>()), |
| 155 |
|
|
"list of partial derivatives of the cost with respect to the state " |
| 156 |
|
|
"of the RK integration. dli_dx") |
| 157 |
|
✗ |
.add_property( |
| 158 |
|
|
"dli_du", |
| 159 |
|
✗ |
bp::make_getter(&Data::dli_du, bp::return_internal_reference<>()), |
| 160 |
|
|
"list of partial derivatives of the cost with respect to the " |
| 161 |
|
|
"control input of the RK integration. dli_du") |
| 162 |
|
✗ |
.add_property( |
| 163 |
|
|
"ddli_ddx", |
| 164 |
|
✗ |
bp::make_getter(&Data::ddli_ddx, bp::return_internal_reference<>()), |
| 165 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 166 |
|
|
"the state of the RK integration. ddli_ddx") |
| 167 |
|
✗ |
.add_property( |
| 168 |
|
|
"ddli_ddw", |
| 169 |
|
✗ |
bp::make_getter(&Data::ddli_ddw, bp::return_internal_reference<>()), |
| 170 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 171 |
|
|
"the control of the differential action model w. ddli_ddw") |
| 172 |
|
✗ |
.add_property( |
| 173 |
|
|
"ddli_ddu", |
| 174 |
|
✗ |
bp::make_getter(&Data::ddli_ddu, bp::return_internal_reference<>()), |
| 175 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 176 |
|
|
"the control input of the RK integration. ddli_ddu") |
| 177 |
|
✗ |
.add_property( |
| 178 |
|
|
"ddli_dxdw", |
| 179 |
|
|
bp::make_getter(&Data::ddli_dxdw, |
| 180 |
|
✗ |
bp::return_internal_reference<>()), |
| 181 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 182 |
|
|
"the state and control of the differential action model. ddli_dxdw") |
| 183 |
|
✗ |
.add_property( |
| 184 |
|
|
"ddli_dxdu", |
| 185 |
|
|
bp::make_getter(&Data::ddli_dxdu, |
| 186 |
|
✗ |
bp::return_internal_reference<>()), |
| 187 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 188 |
|
|
"the state and control input of the RK integration. ddli_dxdu") |
| 189 |
|
✗ |
.add_property( |
| 190 |
|
|
"ddli_dwdu", |
| 191 |
|
|
bp::make_getter(&Data::ddli_dwdu, |
| 192 |
|
✗ |
bp::return_internal_reference<>()), |
| 193 |
|
|
"list of second partial derivatives of the cost with respect to " |
| 194 |
|
|
"the control of the differential action model and the control " |
| 195 |
|
|
"inputs of the RK integration. ddli_dwdu"); |
| 196 |
|
|
} |
| 197 |
|
|
}; |
| 198 |
|
|
|
| 199 |
|
|
#define CROCODDYL_INTACTION_MODEL_RK_PYTHON_BINDINGS(Scalar) \ |
| 200 |
|
|
typedef IntegratedActionModelRKTpl<Scalar> Model; \ |
| 201 |
|
|
typedef IntegratedActionModelAbstractTpl<Scalar> ModelBase; \ |
| 202 |
|
|
typedef ActionModelAbstractTpl<Scalar> ActionBase; \ |
| 203 |
|
|
typedef DifferentialActionModelAbstractTpl<Scalar> DiffActionBase; \ |
| 204 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 205 |
|
|
bp::class_<Model, bp::bases<ModelBase, ActionBase>>( \ |
| 206 |
|
|
"IntegratedActionModelRK", \ |
| 207 |
|
|
"RK integrator for differential action models.\n\n" \ |
| 208 |
|
|
"This class implements different RK integrator schemes. The available " \ |
| 209 |
|
|
"integrators are: RK2, RK3, and RK4.", \ |
| 210 |
|
|
bp::init<std::shared_ptr<DiffActionBase>, RKType, \ |
| 211 |
|
|
bp::optional<Scalar, bool>>( \ |
| 212 |
|
|
bp::args("self", "diffModel", "rktype", "stepTime", \ |
| 213 |
|
|
"withCostResidual"), \ |
| 214 |
|
|
"Initialize the RK integrator.\n\n" \ |
| 215 |
|
|
":param diffModel: differential action model\n" \ |
| 216 |
|
|
":param rktype: type of RK integrator (options are two, three, and " \ |
| 217 |
|
|
"four)\n" \ |
| 218 |
|
|
":param stepTime: step time (default 1e-3)\n" \ |
| 219 |
|
|
":param withCostResidual: includes the cost residuals and " \ |
| 220 |
|
|
"derivatives (default True).")) \ |
| 221 |
|
|
.def(IntegratedActionModelRKVisitor<Model>()) \ |
| 222 |
|
|
.def(CastVisitor<Model>()) \ |
| 223 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 224 |
|
|
.def(CopyableVisitor<Model>()); |
| 225 |
|
|
|
| 226 |
|
|
#define CROCODDYL_INTACTION_DATA_RK_PYTHON_BINDINGS(Scalar) \ |
| 227 |
|
|
typedef IntegratedActionDataRKTpl<Scalar> Data; \ |
| 228 |
|
|
typedef IntegratedActionDataAbstractTpl<Scalar> DataBase; \ |
| 229 |
|
|
typedef IntegratedActionModelRKTpl<Scalar> Model; \ |
| 230 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
| 231 |
|
|
bp::class_<Data, bp::bases<DataBase>>( \ |
| 232 |
|
|
"IntegratedActionDataRK", "RK integrator data.", \ |
| 233 |
|
|
bp::init<Model*>(bp::args("self", "model"), \ |
| 234 |
|
|
"Create RK integrator data.\n\n" \ |
| 235 |
|
|
":param model: RK integrator model")) \ |
| 236 |
|
|
.def(IntegratedActionDataRKVisitor<Data>()) \ |
| 237 |
|
|
.def(CopyableVisitor<Data>()); |
| 238 |
|
|
|
| 239 |
|
✗ |
void exposeIntegratedActionRK() { |
| 240 |
|
|
#ifdef SCALAR_float64 |
| 241 |
|
✗ |
bp::enum_<RKType>("RKType") |
| 242 |
|
✗ |
.value("two", two) |
| 243 |
|
✗ |
.value("three", three) |
| 244 |
|
✗ |
.value("four", four) |
| 245 |
|
✗ |
.export_values(); |
| 246 |
|
|
#endif |
| 247 |
|
|
|
| 248 |
|
✗ |
CROCODDYL_INTACTION_MODEL_RK_PYTHON_BINDINGS(double) |
| 249 |
|
✗ |
CROCODDYL_INTACTION_DATA_RK_PYTHON_BINDINGS(double) |
| 250 |
|
|
} |
| 251 |
|
|
|
| 252 |
|
|
} // namespace python |
| 253 |
|
|
} // namespace crocoddyl |
| 254 |
|
|
|