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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, IRI: CSIC-UPC |
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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ |
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#include "crocoddyl/core/actuation/squashing-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Scalar> |
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class SquashingModelAbstractTpl_wrap |
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: public SquashingModelAbstractTpl<Scalar>, |
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public bp::wrapper<SquashingModelAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(SquashingModelBase, SquashingModelAbstractTpl_wrap) |
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typedef typename crocoddyl::SquashingModelAbstractTpl<Scalar> SquashingModel; |
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typedef typename crocoddyl::SquashingDataAbstractTpl<Scalar> SquashingData; |
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typedef typename SquashingModel::VectorXs VectorXs; |
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using SquashingModel::ns_; |
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SquashingModelAbstractTpl_wrap(const std::size_t ns) |
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: SquashingModel(ns), bp::wrapper<SquashingModel>() {} |
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void calc(const std::shared_ptr<SquashingData>& data, |
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const Eigen::Ref<const VectorXs>& s) override { |
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assert_pretty(static_cast<std::size_t>(s.size()) == ns_, |
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"s has wrong dimension"); |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)s); |
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} |
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void calcDiff(const std::shared_ptr<SquashingData>& data, |
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const Eigen::Ref<const VectorXs>& s) override { |
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assert_pretty(static_cast<std::size_t>(s.size()) == ns_, |
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"s has wrong dimension"); |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)s); |
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} |
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template <typename NewScalar> |
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SquashingModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef SquashingModelAbstractTpl_wrap<NewScalar> ReturnType; |
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ReturnType ret(ns_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_SQUASHING_BASE_HPP_ |
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