| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, IRI: CSIC-UPC | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ | ||
| 10 | #define BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/actuation/squashing-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | class SquashingModelAbstractTpl_wrap | ||
| 20 | : public SquashingModelAbstractTpl<Scalar>, | ||
| 21 | public bp::wrapper<SquashingModelAbstractTpl<Scalar>> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | ✗ | CROCODDYL_DERIVED_CAST(SquashingModelBase, SquashingModelAbstractTpl_wrap) | |
| 25 | |||
| 26 | typedef typename crocoddyl::SquashingModelAbstractTpl<Scalar> SquashingModel; | ||
| 27 | typedef typename crocoddyl::SquashingDataAbstractTpl<Scalar> SquashingData; | ||
| 28 | typedef typename SquashingModel::VectorXs VectorXs; | ||
| 29 | using SquashingModel::ns_; | ||
| 30 | |||
| 31 | ✗ | SquashingModelAbstractTpl_wrap(const std::size_t ns) | |
| 32 | ✗ | : SquashingModel(ns), bp::wrapper<SquashingModel>() {} | |
| 33 | |||
| 34 | ✗ | void calc(const std::shared_ptr<SquashingData>& data, | |
| 35 | const Eigen::Ref<const VectorXs>& s) override { | ||
| 36 | ✗ | assert_pretty(static_cast<std::size_t>(s.size()) == ns_, | |
| 37 | "s has wrong dimension"); | ||
| 38 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)s); | |
| 39 | } | ||
| 40 | |||
| 41 | ✗ | void calcDiff(const std::shared_ptr<SquashingData>& data, | |
| 42 | const Eigen::Ref<const VectorXs>& s) override { | ||
| 43 | ✗ | assert_pretty(static_cast<std::size_t>(s.size()) == ns_, | |
| 44 | "s has wrong dimension"); | ||
| 45 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 46 | ✗ | (VectorXs)s); | |
| 47 | } | ||
| 48 | |||
| 49 | template <typename NewScalar> | ||
| 50 | ✗ | SquashingModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 51 | typedef SquashingModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 52 | ✗ | ReturnType ret(ns_); | |
| 53 | ✗ | return ret; | |
| 54 | } | ||
| 55 | }; | ||
| 56 | |||
| 57 | } // namespace python | ||
| 58 | } // namespace crocoddyl | ||
| 59 | |||
| 60 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ | ||
| 61 |