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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ |
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#include <string> |
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#include "crocoddyl/core/state-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 StateAbstractTpl_wrap : public StateAbstractTpl<Scalar>, |
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public bp::wrapper<StateAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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✗ |
CROCODDYL_DERIVED_CAST(StateBase, StateAbstractTpl_wrap) |
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typedef typename crocoddyl::StateAbstractTpl<Scalar> State; |
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typedef typename State::VectorXs VectorXs; |
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typedef typename State::MatrixXs MatrixXs; |
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using State::lb_; |
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using State::ndx_; |
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using State::nq_; |
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using State::nv_; |
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using State::nx_; |
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using State::ub_; |
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StateAbstractTpl_wrap(std::size_t nx, std::size_t ndx) |
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: State(nx, ndx), bp::wrapper<State>() { |
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enableMultithreading() = false; |
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} |
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explicit StateAbstractTpl_wrap() {} |
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VectorXs zero() const override { |
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return bp::call<VectorXs>(this->get_override("zero").ptr()); |
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} |
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VectorXs rand() const override { |
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return bp::call<VectorXs>(this->get_override("rand").ptr()); |
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} |
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VectorXs diff_wrap(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1) const { |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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return bp::call<VectorXs>(this->get_override("diff").ptr(), (VectorXs)x0, |
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(VectorXs)x1); |
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} |
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void diff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<VectorXs> dxout) const override { |
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dxout = diff_wrap(x0, x1); |
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} |
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VectorXs integrate_wrap(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx) const { |
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if (static_cast<std::size_t>(x.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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return bp::call<VectorXs>(this->get_override("integrate").ptr(), |
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(VectorXs)x, (VectorXs)dx); |
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} |
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void integrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<VectorXs> x1out) const override { |
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x1out = integrate_wrap(x, dx); |
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} |
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void Jdiff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond) const override { |
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bp::list res = Jdiff_wrap(x0, x1, firstsecond); |
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switch (firstsecond) { |
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case first: { |
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Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case second: { |
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Jsecond.derived() = bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case both: { |
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Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); |
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Jsecond.derived() = bp::extract<MatrixXs>(res[1])(); |
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break; |
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} |
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default: { |
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Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); |
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Jsecond.derived() = bp::extract<MatrixXs>(res[1])(); |
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break; |
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} |
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} |
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} |
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bp::list Jdiff_wrap(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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const Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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bp::list Jacs; |
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switch (firstsecond) { |
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case first: { |
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MatrixXs J = |
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bp::call<MatrixXs>(this->get_override("Jdiff").ptr(), (VectorXs)x0, |
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(VectorXs)x1, firstsecond); |
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Jacs.append(J); |
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break; |
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} |
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case second: { |
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MatrixXs J = |
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bp::call<MatrixXs>(this->get_override("Jdiff").ptr(), (VectorXs)x0, |
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(VectorXs)x1, firstsecond); |
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Jacs.append(J); |
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break; |
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} |
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case both: { |
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Jacs = bp::call<bp::list>(this->get_override("Jdiff").ptr(), |
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(VectorXs)x0, (VectorXs)x1, firstsecond); |
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break; |
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} |
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default: { |
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Jacs = bp::call<bp::list>(this->get_override("Jdiff").ptr(), |
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(VectorXs)x0, (VectorXs)x1, firstsecond); |
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break; |
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} |
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} |
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return Jacs; |
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} |
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void Jintegrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond, |
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const AssignmentOp op) const override { |
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bp::list res = Jintegrate_wrap(x, dx, firstsecond); |
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if (firstsecond == first || firstsecond == both) { |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty("Invalid argument: " |
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<< "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + std::to_string(ndx_) + |
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")"); |
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} |
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switch (op) { |
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case setto: { |
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Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case addto: { |
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Jfirst.derived() += bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case rmfrom: { |
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Jfirst.derived() -= bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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default: { |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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} |
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if (firstsecond == second || firstsecond == both) { |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty("Invalid argument: " |
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<< "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + std::to_string(ndx_) + |
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")"); |
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} |
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switch (op) { |
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case setto: { |
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Jsecond.derived() = bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case addto: { |
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Jsecond.derived() += bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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case rmfrom: { |
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Jsecond.derived() -= bp::extract<MatrixXs>(res[0])(); |
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break; |
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} |
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default: { |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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} |
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} |
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bp::list Jintegrate_wrap(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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const Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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if (static_cast<std::size_t>(x.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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bp::list Jacs; |
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switch (firstsecond) { |
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case first: { |
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MatrixXs J = bp::call<MatrixXs>(this->get_override("Jintegrate").ptr(), |
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(VectorXs)x, (VectorXs)dx, firstsecond); |
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Jacs.append(J); |
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break; |
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} |
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case second: { |
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MatrixXs J = bp::call<MatrixXs>(this->get_override("Jintegrate").ptr(), |
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(VectorXs)x, (VectorXs)dx, firstsecond); |
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Jacs.append(J); |
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break; |
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} |
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case both: { |
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Jacs = bp::call<bp::list>(this->get_override("Jintegrate").ptr(), |
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(VectorXs)x, (VectorXs)dx, firstsecond); |
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break; |
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} |
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✗ |
default: { |
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✗ |
Jacs = bp::call<bp::list>(this->get_override("Jintegrate").ptr(), |
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✗ |
(VectorXs)x, (VectorXs)dx, firstsecond); |
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✗ |
break; |
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} |
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} |
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✗ |
return Jacs; |
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} |
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✗ |
void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jin, |
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const Jcomponent firstsecond) const override { |
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✗ |
Jin = JintegrateTransport_wrap(x, dx, Jin, firstsecond); |
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} |
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✗ |
MatrixXs JintegrateTransport_wrap(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jin, |
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const Jcomponent firstsecond) const { |
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|
✗ |
assert_pretty( |
| 292 |
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is_a_Jcomponent(firstsecond), |
| 293 |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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|
✗ |
if (static_cast<std::size_t>(x.size()) != nx_) { |
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✗ |
throw_pretty( |
| 296 |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
| 297 |
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std::to_string(nx_) + ")"); |
| 298 |
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} |
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✗ |
if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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✗ |
throw_pretty( |
| 301 |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
| 302 |
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std::to_string(ndx_) + ")"); |
| 303 |
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} |
| 304 |
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return bp::call<MatrixXs>(this->get_override("JintegrateTransport").ptr(), |
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✗ |
(VectorXs)x, (VectorXs)dx, (MatrixXs)Jin, |
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✗ |
firstsecond); |
| 307 |
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} |
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template <typename NewScalar> |
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|
✗ |
StateAbstractTpl_wrap<NewScalar> cast() const { |
| 311 |
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typedef StateAbstractTpl_wrap<NewScalar> ReturnType; |
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✗ |
ReturnType ret(nx_, ndx_); |
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✗ |
return ret; |
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} |
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}; |
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|
20 |
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Jdiffs, StateAbstract::Jdiff_Js, 2, 3) |
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|
10 |
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Jintegrates, |
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StateAbstract::Jintegrate_Js, 2, 3) |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ |
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