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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, University of Trento, |
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// LAAS-CNRS, IRI: CSIC-UPC, 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/integrator/rk.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/core/integ-action-base.hpp" |
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#define SCALAR_float32 |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct IntegratedActionModelRKVisitor |
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: public bp::def_visitor<IntegratedActionModelRKVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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typedef typename Model::ActionDataAbstract Data; |
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typedef |
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typename Model::DifferentialActionModelAbstract DifferentialActionModel; |
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typedef typename Model::ControlParametrizationModelAbstract |
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ControlParametrizationModel; |
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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<DifferentialActionModel>, |
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std::shared_ptr<ControlParametrizationModel>, RKType, |
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bp::optional<Scalar, bool>>( |
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bp::args("self", "diffModel", "control", "rktype", "stepTime", |
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"withCostResidual"), |
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"Initialize the RK integrator.\n\n" |
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":param diffModel: differential action model\n" |
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":param control: the control parametrization\n" |
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":param rktype: type of RK integrator (options are two, three, " |
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"and four)\n" |
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":param stepTime: step time (default 1e-3)\n" |
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":param withCostResidual: includes the cost residuals and " |
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"derivatives (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 time-discrete evolution of a differential action " |
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"model.\n\n" |
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"It describes the time-discrete evolution of action model.\n" |
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":param data: action 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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.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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"Computes the derivatives of the integrated action model wrt state " |
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"and control. \n\n" |
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"This function builds a quadratic approximation of the action " |
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"model (i.e. dynamical system and cost function). It assumes that " |
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"calc has been run first.\n" |
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":param data: action 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 (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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.def("createData", &Model::createData, bp::args("self"), |
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"Create the RK integrator data.") |
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.add_property( |
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"ni", |
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bp::make_function(&Model::get_ni, |
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bp::return_value_policy<bp::return_by_value>()), |
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"number of nodes to be integrated") |
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.add_property( |
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"ng", bp::make_function(&Model::get_ng), "number of equality constraints") |
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.add_property( |
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"nh", bp::make_function(&Model::get_nh), "number of inequality constraints") |
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.add_property( |
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"ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") |
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.add_property( |
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"nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints"); |
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} |
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}; |
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template <typename Data> |
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struct IntegratedActionDataRKVisitor |
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: public bp::def_visitor<IntegratedActionDataRKVisitor<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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"differential", |
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bp::make_getter(&Data::differential, |
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bp::return_value_policy<bp::return_by_value>()), |
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"list of differential action data") |
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.add_property( |
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"control", |
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bp::make_getter(&Data::control, |
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bp::return_value_policy<bp::return_by_value>()), |
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"list of control parametrization data") |
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.add_property( |
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"integral", |
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bp::make_getter(&Data::integral, |
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bp::return_value_policy<bp::return_by_value>()), |
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"list of RK terms related to the cost") |
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.add_property( |
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"dx", bp::make_getter(&Data::dx, bp::return_internal_reference<>()), |
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"state rate.") |
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.add_property( |
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"ki", bp::make_getter(&Data::ki, bp::return_internal_reference<>()), |
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"list of RK terms related to system dynamics") |
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.add_property( |
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"y", bp::make_getter(&Data::y, bp::return_internal_reference<>()), |
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"list of states where f is evaluated in the RK integration") |
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.add_property( |
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"ws", bp::make_getter(&Data::ws, bp::return_internal_reference<>()), |
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"control inputs evaluated in the RK integration") |
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.add_property( |
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"dki_dx", |
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bp::make_getter(&Data::dki_dx, bp::return_internal_reference<>()), |
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"list of partial derivatives of RK nodes with respect to the state " |
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"of the RK integration. dki/dx") |
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.add_property( |
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"dki_du", |
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bp::make_getter(&Data::dki_du, bp::return_internal_reference<>()), |
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"list of partial derivatives of RK nodes with respect to the " |
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"control parameters of the RK integration. dki/du") |
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.add_property( |
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"dyi_dx", |
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bp::make_getter(&Data::dyi_dx, bp::return_internal_reference<>()), |
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"list of partial derivatives of RK dynamics with respect to the " |
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"state of the RK integrator. dyi/dx") |
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.add_property( |
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"dyi_du", |
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bp::make_getter(&Data::dyi_du, bp::return_internal_reference<>()), |
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"list of partial derivatives of RK dynamics with respect to the " |
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"control parameters of the RK integrator. dyi/du") |
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.add_property( |
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"dli_dx", |
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bp::make_getter(&Data::dli_dx, bp::return_internal_reference<>()), |
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"list of partial derivatives of the cost with respect to the state " |
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"of the RK integration. dli_dx") |
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.add_property( |
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"dli_du", |
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bp::make_getter(&Data::dli_du, bp::return_internal_reference<>()), |
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"list of partial derivatives of the cost with respect to the " |
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"control input of the RK integration. dli_du") |
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.add_property( |
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"ddli_ddx", |
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bp::make_getter(&Data::ddli_ddx, bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the state of the RK integration. ddli_ddx") |
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.add_property( |
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"ddli_ddw", |
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bp::make_getter(&Data::ddli_ddw, bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the control of the differential action model w. ddli_ddw") |
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.add_property( |
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"ddli_ddu", |
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bp::make_getter(&Data::ddli_ddu, bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the control input of the RK integration. ddli_ddu") |
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.add_property( |
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"ddli_dxdw", |
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bp::make_getter(&Data::ddli_dxdw, |
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bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the state and control of the differential action model. ddli_dxdw") |
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.add_property( |
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"ddli_dxdu", |
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bp::make_getter(&Data::ddli_dxdu, |
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bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the state and control input of the RK integration. ddli_dxdu") |
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.add_property( |
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"ddli_dwdu", |
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bp::make_getter(&Data::ddli_dwdu, |
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bp::return_internal_reference<>()), |
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"list of second partial derivatives of the cost with respect to " |
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"the control of the differential action model and the control " |
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"inputs of the RK integration. ddli_dwdu"); |
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} |
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}; |
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#define CROCODDYL_INTACTION_MODEL_RK_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionModelRKTpl<Scalar> Model; \ |
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typedef IntegratedActionModelAbstractTpl<Scalar> ModelBase; \ |
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typedef ActionModelAbstractTpl<Scalar> ActionBase; \ |
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typedef DifferentialActionModelAbstractTpl<Scalar> DiffActionBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase, ActionBase>>( \ |
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"IntegratedActionModelRK", \ |
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"RK integrator for differential action models.\n\n" \ |
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"This class implements different RK integrator schemes. The available " \ |
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"integrators are: RK2, RK3, and RK4.", \ |
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bp::init<std::shared_ptr<DiffActionBase>, RKType, \ |
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bp::optional<Scalar, bool>>( \ |
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bp::args("self", "diffModel", "rktype", "stepTime", \ |
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"withCostResidual"), \ |
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"Initialize the RK integrator.\n\n" \ |
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":param diffModel: differential action model\n" \ |
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":param rktype: type of RK integrator (options are two, three, and " \ |
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"four)\n" \ |
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":param stepTime: step time (default 1e-3)\n" \ |
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":param withCostResidual: includes the cost residuals and " \ |
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"derivatives (default True).")) \ |
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.def(IntegratedActionModelRKVisitor<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_INTACTION_DATA_RK_PYTHON_BINDINGS(Scalar) \ |
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typedef IntegratedActionDataRKTpl<Scalar> Data; \ |
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typedef IntegratedActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef IntegratedActionModelRKTpl<Scalar> Model; \ |
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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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"IntegratedActionDataRK", "RK integrator data.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create RK integrator data.\n\n" \ |
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":param model: RK integrator model")) \ |
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.def(IntegratedActionDataRKVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeIntegratedActionRK() { |
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#ifdef SCALAR_float64 |
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bp::enum_<RKType>("RKType") |
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.value("two", two) |
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.value("three", three) |
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.value("four", four) |
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.export_values(); |
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#endif |
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CROCODDYL_INTACTION_MODEL_RK_PYTHON_BINDINGS(float) |
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CROCODDYL_INTACTION_DATA_RK_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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