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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// 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 "python/crocoddyl/core/state-base.hpp" |
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#include "python/crocoddyl/core/core.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 State> |
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struct StateAbstractVisitor |
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: public bp::def_visitor<StateAbstractVisitor<State>> { |
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typedef typename State::Scalar Scalar; |
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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::size_t, std::size_t>( |
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bp::args("self", "nx", "ndx"), |
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"Initialize the state dimensions.\n\n" |
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":param nx: dimension of state configuration tuple\n" |
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":param ndx: dimension of state tangent vector")) |
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.def("zero", pure_virtual(&State::zero), bp::args("self"), |
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"Generate a zero reference state.\n\n" |
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":return zero reference state") |
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.def("rand", pure_virtual(&State::rand), bp::args("self"), |
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"Generate a random reference state.\n\n" |
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":return random reference state") |
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.def("diff", pure_virtual(&State::diff_wrap), |
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bp::args("self", "x0", "x1"), |
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"Compute the state manifold differentiation.\n\n" |
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"It returns the value of x1 [-] x0 operation. Note tha x0 and x1 " |
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"are points in the state manifold (in M). Instead the operator " |
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"result lies in the tangent-space of M.\n" |
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":param x0: previous state point (dim state.nx).\n" |
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":param x1: current state point (dim state.nx).\n" |
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":return x1 [-] x0 value (dim state.ndx).") |
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.def("integrate", pure_virtual(&State::integrate_wrap), |
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bp::args("self", "x", "dx"), |
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"Compute the state manifold integration.\n\n" |
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"It returns the value of x [+] dx operation. x and dx are points " |
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"in the state.diff(x0,x1) (in M) and its tangent, respectively. " |
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"Note that the operator result lies on M too.\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":return x [+] dx value (dim state.nx).") |
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.def("Jdiff", pure_virtual(&State::Jdiff_wrap), |
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bp::args("self", "x0", "x1", "firstsecond"), |
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"Compute the partial derivatives of difference operator.\n\n" |
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"The difference operator (x1 [-] x0) is defined by diff(x0, x1). " |
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"Instead Jdiff computes its partial derivatives, i.e. " |
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"\\partial{diff(x0, x1)}{x0} and \\partial{diff(x0, x1)}{x1}. By " |
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"default, this function returns the derivatives of the first and " |
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"second argument (i.e. firstsecond='both'). However we can also " |
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"specific the partial derivative for the first and second " |
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"variables by setting firstsecond='first' or " |
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"firstsecond='second', respectively.\n" |
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":param x0: previous state point (dim state.nx).\n" |
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":param x1: current state point (dim state.nx).\n" |
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":param firstsecond: derivative w.r.t x0 or x1 or both\n" |
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":return the partial derivative(s) of the diff(x0, x1) function") |
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.def("Jintegrate", pure_virtual(&State::Jintegrate_wrap), |
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bp::args("self", "x", "dx", "firstsecond"), |
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"Compute the partial derivatives of integrate operator.\n\n" |
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"The integrate operator (x [+] dx) is defined by integrate(x, " |
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"dx). Instead Jintegrate computes its partial derivatives, i.e. " |
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"\\partial{integrate(x, dx)}{x} and \\partial{integrate(x, " |
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"dx)}{dx}. By default, this function returns the derivatives of " |
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"the first and second argument (i.e. firstsecond='both'), partial " |
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"derivative by setting firstsecond='first' or " |
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"firstsecond='second'.\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":param firstsecond: derivative w.r.t x or dx or both\n" |
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":return the partial derivative(s) of the integrate(x, dx) " |
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"function") |
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.def("JintegrateTransport", |
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pure_virtual(&State::JintegrateTransport_wrap), |
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bp::args("self", "x", "dx", "Jin", "firstsecond"), |
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"Parallel transport from integrate(x, dx) to x.\n\n" |
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"This function performs the parallel transportation of an input " |
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"matrix whose columns are expressed in the tangent space at " |
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"integrate(x, dx) to the tangent space at x point\n" |
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":param x: state point (dim. state.nx).\n" |
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":param dx: velocity vector (dim state.ndx).\n" |
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":param Jin: input matrix (number of rows = state.nv).\n" |
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":param firstsecond: derivative w.r.t x or dx") |
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.add_property( |
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"nx", bp::make_function(&State::get_nx), |
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bp::make_setter(&State::nx_, bp::return_internal_reference<>()), |
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"dimension of state tuple") |
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.add_property( |
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"ndx", bp::make_function(&State::get_ndx), |
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bp::make_setter(&State::ndx_, bp::return_internal_reference<>()), |
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"dimension of the tangent space of the state manifold") |
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.add_property( |
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"nq", bp::make_function(&State::get_nq), |
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bp::make_setter(&State::nq_, bp::return_internal_reference<>()), |
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"dimension of the configuration tuple") |
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.add_property( |
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"nv", bp::make_function(&State::get_nv), |
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bp::make_setter(&State::nv_, bp::return_internal_reference<>()), |
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"dimension of tangent space of the configuration manifold") |
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.add_property("has_limits", bp::make_function(&State::get_has_limits), |
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"indicates whether problem has finite state limits") |
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.add_property( |
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"lb", |
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bp::make_getter(&State::lb_, bp::return_internal_reference<>()), |
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&State::set_lb, "lower state limits") |
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.add_property( |
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"ub", |
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bp::make_getter(&State::ub_, bp::return_internal_reference<>()), |
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&State::set_ub, "upper state limits"); |
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} |
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}; |
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#define CROCODDYL_STATE_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef StateAbstractTpl<Scalar> State; \ |
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typedef StateAbstractTpl_wrap<Scalar> State_wrap; \ |
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bp::register_ptr_to_python<std::shared_ptr<State>>(); \ |
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bp::class_<State_wrap, boost::noncopyable>( \ |
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"StateAbstract", \ |
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"Abstract class for the state representation.\n\n" \ |
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"A state is represented by its operators: difference, integrates and " \ |
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"their derivatives. The difference operator returns the value of x1 " \ |
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"[-] x0 operation. Instead the integrate operator returns the value of " \ |
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"x [+] dx. These operators are used to compared two points on the " \ |
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"state manifold M or to advance the state given a tangential velocity " \ |
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"(Tx M). Therefore the points x, x0 and x1 belong to the manifold M; " \ |
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"and dx or x1 [-] x0 lie on its tangential space") \ |
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.def(StateAbstractVisitor<State_wrap>()) \ |
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.def(PrintableVisitor<State_wrap>()) \ |
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.def(CopyableVisitor<State_wrap>()); |
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void exposeStateAbstract() { |
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#ifdef SCALAR_float64 |
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bp::enum_<Jcomponent>("Jcomponent") |
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.value("both", both) |
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.value("first", first) |
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.export_values() |
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.value("second", second); |
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bp::enum_<AssignmentOp>("AssignmentOp") |
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.value("setto", setto) |
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.value("addto", addto) |
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.value("rmfrom", rmfrom) |
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.export_values(); |
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#endif |
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CROCODDYL_STATE_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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