| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
| 5 |
|
|
// University of Oxford, Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
// Auto-generated file for float |
| 11 |
|
|
#include "crocoddyl/core/optctrl/shooting.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace python { |
| 17 |
|
|
|
| 18 |
|
|
template <typename Problem> |
| 19 |
|
|
struct ShootingProblemVisitor |
| 20 |
|
|
: public bp::def_visitor<ShootingProblemVisitor<Problem>> { |
| 21 |
|
|
typedef typename Problem::ActionModelAbstract ActionModel; |
| 22 |
|
|
typedef typename Problem::ActionDataAbstract ActionData; |
| 23 |
|
|
typedef typename Problem::VectorXs VectorXs; |
| 24 |
|
|
template <class PyClass> |
| 25 |
|
✗ |
void visit(PyClass& cl) const { |
| 26 |
|
✗ |
cl.def(bp::init<VectorXs, std::vector<std::shared_ptr<ActionModel>>, |
| 27 |
|
|
std::shared_ptr<ActionModel>, |
| 28 |
|
|
std::vector<std::shared_ptr<ActionData>>, |
| 29 |
|
|
std::shared_ptr<ActionData>>( |
| 30 |
|
|
bp::args("self", "x0", "runningModels", "terminalModel", |
| 31 |
|
|
"runningDatas", "terminalData"), |
| 32 |
|
|
"Initialize the shooting problem (models and datas).\n\n" |
| 33 |
|
|
":param x0: initial state\n" |
| 34 |
|
|
":param runningModels: running action models (size T)\n" |
| 35 |
|
|
":param terminalModel: terminal action model\n" |
| 36 |
|
|
":param runningDatas: running action datas (size T)\n" |
| 37 |
|
|
":param terminalData: terminal action data")) |
| 38 |
|
✗ |
.def("calc", &Problem::calc, bp::args("self", "xs", "us"), |
| 39 |
|
|
"Compute the cost and the next states.\n\n" |
| 40 |
|
|
"For each node k, and along the state xs and control us " |
| 41 |
|
|
"trajectories, it computes the next state x_{k+1} and cost l_k.\n" |
| 42 |
|
|
":param xs: time-discrete state trajectory (size T+1)\n" |
| 43 |
|
|
":param us: time-discrete control sequence (size T)\n" |
| 44 |
|
|
":returns the total cost value") |
| 45 |
|
✗ |
.def("calcDiff", &Problem::calcDiff, bp::args("self", "xs", "us"), |
| 46 |
|
|
"Compute the derivatives of the cost and dynamics.\n\n" |
| 47 |
|
|
"For each node k, and along the state x_s and control u_s " |
| 48 |
|
|
"trajectories, it computes the derivatives of the cost (lx, lu, " |
| 49 |
|
|
"lxx, lxu, luu) and dynamics (fx, fu).\n" |
| 50 |
|
|
":param xs: time-discrete state trajectory (size T+1)\n" |
| 51 |
|
|
":param us: time-discrete control sequence (size T)\n" |
| 52 |
|
|
":returns the total cost value") |
| 53 |
|
✗ |
.def("rollout", &Problem::rollout_us, bp::args("self", "us"), |
| 54 |
|
|
"Integrate the dynamics given a control sequence.\n\n" |
| 55 |
|
|
"Rollout the dynamics give a sequence of control commands\n" |
| 56 |
|
|
":param us: time-discrete control sequence (size T)") |
| 57 |
|
✗ |
.def("quasiStatic", &Problem::quasiStatic_xs, bp::args("self", "xs"), |
| 58 |
|
|
"Compute the quasi static commands given a state trajectory.\n\n" |
| 59 |
|
|
"Generally speaking, it uses Newton-Raphson method for computing " |
| 60 |
|
|
"the quasi static commands.\n" |
| 61 |
|
|
":param xs: time-discrete state trajectory (size T)") |
| 62 |
|
✗ |
.def("circularAppend", |
| 63 |
|
|
static_cast<void (Problem::*)(std::shared_ptr<ActionModel>, |
| 64 |
|
|
std::shared_ptr<ActionData>)>( |
| 65 |
|
|
&Problem::circularAppend), |
| 66 |
|
|
bp::args("self", "model", "data"), |
| 67 |
|
|
bp::args("self", "model", "data"), |
| 68 |
|
|
"Circular append the model and data onto the end running node.\n\n" |
| 69 |
|
|
"Once we update the end running node, the first running mode is " |
| 70 |
|
|
"removed as in a circular buffer.\n" |
| 71 |
|
|
":param model: new model\n" |
| 72 |
|
|
":param data: new data") |
| 73 |
|
✗ |
.def("circularAppend", |
| 74 |
|
|
static_cast<void (Problem::*)(std::shared_ptr<ActionModel>)>( |
| 75 |
|
|
&Problem::circularAppend), |
| 76 |
|
|
bp::args("self", "model"), |
| 77 |
|
|
"Circular append the model and data onto the end running node.\n\n" |
| 78 |
|
|
"Once we update the end running node, the first running mode is " |
| 79 |
|
|
"removed as in a circular buffer. Note that this method allocates " |
| 80 |
|
|
"new data for the end running node.\n" |
| 81 |
|
|
":param model: new model") |
| 82 |
|
✗ |
.def("updateNode", &Problem::updateNode, |
| 83 |
|
|
bp::args("self", "i", "model", "data"), |
| 84 |
|
|
"Update the model and data for a specific node.\n\n" |
| 85 |
|
|
":param i: index of the node (0 <= i <= T + 1)\n" |
| 86 |
|
|
":param model: new model\n" |
| 87 |
|
|
":param data: new data") |
| 88 |
|
✗ |
.def("updateModel", &Problem::updateModel, |
| 89 |
|
|
bp::args("self", "i", "model"), |
| 90 |
|
|
"Update a model and allocated new data for a specific node.\n\n" |
| 91 |
|
|
":param i: index of the node (0 <= i <= T + 1)\n" |
| 92 |
|
|
":param model: new model") |
| 93 |
|
✗ |
.add_property("T", bp::make_function(&Problem::get_T), |
| 94 |
|
|
"number of running nodes") |
| 95 |
|
✗ |
.add_property("x0", |
| 96 |
|
|
bp::make_function(&Problem::get_x0, |
| 97 |
|
✗ |
bp::return_internal_reference<>()), |
| 98 |
|
|
&Problem::set_x0, "initial state") |
| 99 |
|
✗ |
.add_property( |
| 100 |
|
|
"runningModels", |
| 101 |
|
|
bp::make_function(&Problem::get_runningModels, |
| 102 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 103 |
|
|
&Problem::set_runningModels, "running models") |
| 104 |
|
✗ |
.add_property( |
| 105 |
|
|
"terminalModel", |
| 106 |
|
|
bp::make_function(&Problem::get_terminalModel, |
| 107 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 108 |
|
|
&Problem::set_terminalModel, "terminal model") |
| 109 |
|
✗ |
.add_property( |
| 110 |
|
|
"runningDatas", |
| 111 |
|
|
bp::make_function(&Problem::get_runningDatas, |
| 112 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 113 |
|
|
"running datas") |
| 114 |
|
✗ |
.add_property( |
| 115 |
|
|
"terminalData", |
| 116 |
|
|
bp::make_function(&Problem::get_terminalData, |
| 117 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 118 |
|
|
"terminal data") |
| 119 |
|
✗ |
.add_property( |
| 120 |
|
|
"nthreads", bp::make_function(&Problem::get_nthreads), |
| 121 |
|
|
bp::make_function(&Problem::set_nthreads), |
| 122 |
|
|
"number of threads launch by the multi-threading support (if you " |
| 123 |
|
|
"set nthreads <= 1, then nthreads=CROCODDYL_WITH_NTHREADS)") |
| 124 |
|
✗ |
.add_property("nx", bp::make_function(&Problem::get_nx), |
| 125 |
|
|
"dimension of state tuple") |
| 126 |
|
✗ |
.add_property("ndx", bp::make_function(&Problem::get_ndx), |
| 127 |
|
|
"dimension of the tangent space of the state manifold") |
| 128 |
|
✗ |
.add_property("is_updated", bp::make_function(&Problem::is_updated), |
| 129 |
|
|
"Returns True if the shooting problem has been updated, " |
| 130 |
|
|
"otherwise False"); |
| 131 |
|
|
} |
| 132 |
|
|
}; |
| 133 |
|
|
|
| 134 |
|
|
#define CROCODDYL_SHOOTING_PROBLEM_PYTHON_BINDINGS(Scalar) \ |
| 135 |
|
|
typedef ShootingProblemTpl<Scalar> Problem; \ |
| 136 |
|
|
typedef ActionModelAbstractTpl<Scalar> ActionModel; \ |
| 137 |
|
|
typedef typename Problem::VectorXs VectorXs; \ |
| 138 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Problem>>(); \ |
| 139 |
|
|
bp::class_<Problem>( \ |
| 140 |
|
|
"ShootingProblem", \ |
| 141 |
|
|
"Declare a shooting problem.\n\n" \ |
| 142 |
|
|
"A shooting problem declares the initial state, a set of running " \ |
| 143 |
|
|
"action models and a terminal action model. It has three main methods " \ |
| 144 |
|
|
"- calc, calcDiff and rollout. The first computes the set of next " \ |
| 145 |
|
|
"states and cost values per each action model. calcDiff updates the " \ |
| 146 |
|
|
"derivatives of all action models. The last rollouts the stacks of " \ |
| 147 |
|
|
"actions models.", \ |
| 148 |
|
|
bp::init<VectorXs, std::vector<std::shared_ptr<ActionModel>>, \ |
| 149 |
|
|
std::shared_ptr<ActionModel>>( \ |
| 150 |
|
|
bp::args("self", "x0", "runningModels", "terminalModel"), \ |
| 151 |
|
|
"Initialize the shooting problem and allocate its data.\n\n" \ |
| 152 |
|
|
":param x0: initial state\n" \ |
| 153 |
|
|
":param runningModels: running action models (size T)\n" \ |
| 154 |
|
|
":param terminalModel: terminal action model")) \ |
| 155 |
|
|
.def(ShootingProblemVisitor<Problem>()) \ |
| 156 |
|
|
.def(PrintableVisitor<Problem>()) \ |
| 157 |
|
|
.def(CopyableVisitor<Problem>()); |
| 158 |
|
|
|
| 159 |
|
✗ |
void exposeShootingProblem() { |
| 160 |
|
✗ |
CROCODDYL_SHOOTING_PROBLEM_PYTHON_BINDINGS(float) |
| 161 |
|
|
} |
| 162 |
|
|
|
| 163 |
|
|
} // namespace python |
| 164 |
|
|
} // namespace crocoddyl |
| 165 |
|
|
|