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|---|---|---|---|
| 1 | |||
| 2 | /////////////////////////////////////////////////////////////////////////////// | ||
| 3 | // BSD 3-Clause License | ||
| 4 | // | ||
| 5 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ | ||
| 12 | #define BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ | ||
| 13 | |||
| 14 | #include <string> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/state-base.hpp" | ||
| 17 | #include "python/crocoddyl/core/core.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | namespace python { | ||
| 21 | |||
| 22 | template <typename Scalar> | ||
| 23 | class StateAbstractTpl_wrap : public StateAbstractTpl<Scalar>, | ||
| 24 | public bp::wrapper<StateAbstractTpl<Scalar>> { | ||
| 25 | public: | ||
| 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 27 | ✗ | CROCODDYL_DERIVED_CAST(StateBase, StateAbstractTpl_wrap) | |
| 28 | |||
| 29 | typedef typename crocoddyl::StateAbstractTpl<Scalar> State; | ||
| 30 | typedef typename State::VectorXs VectorXs; | ||
| 31 | typedef typename State::MatrixXs MatrixXs; | ||
| 32 | using State::lb_; | ||
| 33 | using State::ndx_; | ||
| 34 | using State::nq_; | ||
| 35 | using State::nv_; | ||
| 36 | using State::nx_; | ||
| 37 | using State::ub_; | ||
| 38 | |||
| 39 | ✗ | StateAbstractTpl_wrap(std::size_t nx, std::size_t ndx) | |
| 40 | ✗ | : State(nx, ndx), bp::wrapper<State>() { | |
| 41 | ✗ | enableMultithreading() = false; | |
| 42 | ✗ | } | |
| 43 | ✗ | explicit StateAbstractTpl_wrap() {} | |
| 44 | |||
| 45 | ✗ | VectorXs zero() const override { | |
| 46 | ✗ | return bp::call<VectorXs>(this->get_override("zero").ptr()); | |
| 47 | } | ||
| 48 | |||
| 49 | ✗ | VectorXs rand() const override { | |
| 50 | ✗ | return bp::call<VectorXs>(this->get_override("rand").ptr()); | |
| 51 | } | ||
| 52 | |||
| 53 | ✗ | VectorXs diff_wrap(const Eigen::Ref<const VectorXs>& x0, | |
| 54 | const Eigen::Ref<const VectorXs>& x1) const { | ||
| 55 | ✗ | if (static_cast<std::size_t>(x0.size()) != nx_) { | |
| 56 | ✗ | throw_pretty( | |
| 57 | "Invalid argument: " << "x0 has wrong dimension (it should be " + | ||
| 58 | std::to_string(nx_) + ")"); | ||
| 59 | } | ||
| 60 | ✗ | if (static_cast<std::size_t>(x1.size()) != nx_) { | |
| 61 | ✗ | throw_pretty( | |
| 62 | "Invalid argument: " << "x1 has wrong dimension (it should be " + | ||
| 63 | std::to_string(nx_) + ")"); | ||
| 64 | } | ||
| 65 | ✗ | return bp::call<VectorXs>(this->get_override("diff").ptr(), (VectorXs)x0, | |
| 66 | ✗ | (VectorXs)x1); | |
| 67 | } | ||
| 68 | |||
| 69 | ✗ | void diff(const Eigen::Ref<const VectorXs>& x0, | |
| 70 | const Eigen::Ref<const VectorXs>& x1, | ||
| 71 | Eigen::Ref<VectorXs> dxout) const override { | ||
| 72 | ✗ | dxout = diff_wrap(x0, x1); | |
| 73 | ✗ | } | |
| 74 | |||
| 75 | ✗ | VectorXs integrate_wrap(const Eigen::Ref<const VectorXs>& x, | |
| 76 | const Eigen::Ref<const VectorXs>& dx) const { | ||
| 77 | ✗ | if (static_cast<std::size_t>(x.size()) != nx_) { | |
| 78 | ✗ | throw_pretty( | |
| 79 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 80 | std::to_string(nx_) + ")"); | ||
| 81 | } | ||
| 82 | ✗ | if (static_cast<std::size_t>(dx.size()) != ndx_) { | |
| 83 | ✗ | throw_pretty( | |
| 84 | "Invalid argument: " << "dx has wrong dimension (it should be " + | ||
| 85 | std::to_string(ndx_) + ")"); | ||
| 86 | } | ||
| 87 | return bp::call<VectorXs>(this->get_override("integrate").ptr(), | ||
| 88 | ✗ | (VectorXs)x, (VectorXs)dx); | |
| 89 | } | ||
| 90 | |||
| 91 | ✗ | void integrate(const Eigen::Ref<const VectorXs>& x, | |
| 92 | const Eigen::Ref<const VectorXs>& dx, | ||
| 93 | Eigen::Ref<VectorXs> x1out) const override { | ||
| 94 | ✗ | x1out = integrate_wrap(x, dx); | |
| 95 | ✗ | } | |
| 96 | |||
| 97 | ✗ | void Jdiff(const Eigen::Ref<const VectorXs>& x0, | |
| 98 | const Eigen::Ref<const VectorXs>& x1, Eigen::Ref<MatrixXs> Jfirst, | ||
| 99 | Eigen::Ref<MatrixXs> Jsecond, | ||
| 100 | const Jcomponent firstsecond) const override { | ||
| 101 | ✗ | bp::list res = Jdiff_wrap(x0, x1, firstsecond); | |
| 102 | ✗ | switch (firstsecond) { | |
| 103 | ✗ | case first: { | |
| 104 | ✗ | Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 105 | ✗ | break; | |
| 106 | } | ||
| 107 | ✗ | case second: { | |
| 108 | ✗ | Jsecond.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 109 | ✗ | break; | |
| 110 | } | ||
| 111 | ✗ | case both: { | |
| 112 | ✗ | Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 113 | ✗ | Jsecond.derived() = bp::extract<MatrixXs>(res[1])(); | |
| 114 | ✗ | break; | |
| 115 | } | ||
| 116 | ✗ | default: { | |
| 117 | ✗ | Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 118 | ✗ | Jsecond.derived() = bp::extract<MatrixXs>(res[1])(); | |
| 119 | ✗ | break; | |
| 120 | } | ||
| 121 | } | ||
| 122 | ✗ | } | |
| 123 | |||
| 124 | ✗ | bp::list Jdiff_wrap(const Eigen::Ref<const VectorXs>& x0, | |
| 125 | const Eigen::Ref<const VectorXs>& x1, | ||
| 126 | const Jcomponent firstsecond) const { | ||
| 127 | ✗ | assert_pretty( | |
| 128 | is_a_Jcomponent(firstsecond), | ||
| 129 | ("firstsecond must be one of the Jcomponent {both, first, second}")); | ||
| 130 | ✗ | if (static_cast<std::size_t>(x0.size()) != nx_) { | |
| 131 | ✗ | throw_pretty( | |
| 132 | "Invalid argument: " << "x0 has wrong dimension (it should be " + | ||
| 133 | std::to_string(nx_) + ")"); | ||
| 134 | } | ||
| 135 | ✗ | if (static_cast<std::size_t>(x1.size()) != nx_) { | |
| 136 | ✗ | throw_pretty( | |
| 137 | "Invalid argument: " << "x1 has wrong dimension (it should be " + | ||
| 138 | std::to_string(nx_) + ")"); | ||
| 139 | } | ||
| 140 | |||
| 141 | ✗ | bp::list Jacs; | |
| 142 | ✗ | switch (firstsecond) { | |
| 143 | ✗ | case first: { | |
| 144 | ✗ | MatrixXs J = | |
| 145 | ✗ | bp::call<MatrixXs>(this->get_override("Jdiff").ptr(), (VectorXs)x0, | |
| 146 | ✗ | (VectorXs)x1, firstsecond); | |
| 147 | ✗ | Jacs.append(J); | |
| 148 | ✗ | break; | |
| 149 | ✗ | } | |
| 150 | ✗ | case second: { | |
| 151 | ✗ | MatrixXs J = | |
| 152 | ✗ | bp::call<MatrixXs>(this->get_override("Jdiff").ptr(), (VectorXs)x0, | |
| 153 | ✗ | (VectorXs)x1, firstsecond); | |
| 154 | ✗ | Jacs.append(J); | |
| 155 | ✗ | break; | |
| 156 | ✗ | } | |
| 157 | ✗ | case both: { | |
| 158 | ✗ | Jacs = bp::call<bp::list>(this->get_override("Jdiff").ptr(), | |
| 159 | ✗ | (VectorXs)x0, (VectorXs)x1, firstsecond); | |
| 160 | ✗ | break; | |
| 161 | } | ||
| 162 | ✗ | default: { | |
| 163 | ✗ | Jacs = bp::call<bp::list>(this->get_override("Jdiff").ptr(), | |
| 164 | ✗ | (VectorXs)x0, (VectorXs)x1, firstsecond); | |
| 165 | ✗ | break; | |
| 166 | } | ||
| 167 | } | ||
| 168 | ✗ | return Jacs; | |
| 169 | ✗ | } | |
| 170 | |||
| 171 | ✗ | void Jintegrate(const Eigen::Ref<const VectorXs>& x, | |
| 172 | const Eigen::Ref<const VectorXs>& dx, | ||
| 173 | Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, | ||
| 174 | const Jcomponent firstsecond, | ||
| 175 | const AssignmentOp op) const override { | ||
| 176 | ✗ | bp::list res = Jintegrate_wrap(x, dx, firstsecond); | |
| 177 | ✗ | if (firstsecond == first || firstsecond == both) { | |
| 178 | ✗ | if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || | |
| 179 | ✗ | static_cast<std::size_t>(Jfirst.cols()) != ndx_) { | |
| 180 | ✗ | throw_pretty("Invalid argument: " | |
| 181 | << "Jfirst has wrong dimension (it should be " + | ||
| 182 | std::to_string(ndx_) + "," + std::to_string(ndx_) + | ||
| 183 | ")"); | ||
| 184 | } | ||
| 185 | ✗ | switch (op) { | |
| 186 | ✗ | case setto: { | |
| 187 | ✗ | Jfirst.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 188 | ✗ | break; | |
| 189 | } | ||
| 190 | ✗ | case addto: { | |
| 191 | ✗ | Jfirst.derived() += bp::extract<MatrixXs>(res[0])(); | |
| 192 | ✗ | break; | |
| 193 | } | ||
| 194 | ✗ | case rmfrom: { | |
| 195 | ✗ | Jfirst.derived() -= bp::extract<MatrixXs>(res[0])(); | |
| 196 | ✗ | break; | |
| 197 | } | ||
| 198 | ✗ | default: { | |
| 199 | ✗ | throw_pretty( | |
| 200 | "Invalid argument: allowed operators: setto, addto, rmfrom"); | ||
| 201 | break; | ||
| 202 | } | ||
| 203 | } | ||
| 204 | } | ||
| 205 | ✗ | if (firstsecond == second || firstsecond == both) { | |
| 206 | ✗ | if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || | |
| 207 | ✗ | static_cast<std::size_t>(Jsecond.cols()) != ndx_) { | |
| 208 | ✗ | throw_pretty("Invalid argument: " | |
| 209 | << "Jsecond has wrong dimension (it should be " + | ||
| 210 | std::to_string(ndx_) + "," + std::to_string(ndx_) + | ||
| 211 | ")"); | ||
| 212 | } | ||
| 213 | ✗ | switch (op) { | |
| 214 | ✗ | case setto: { | |
| 215 | ✗ | Jsecond.derived() = bp::extract<MatrixXs>(res[0])(); | |
| 216 | ✗ | break; | |
| 217 | } | ||
| 218 | ✗ | case addto: { | |
| 219 | ✗ | Jsecond.derived() += bp::extract<MatrixXs>(res[0])(); | |
| 220 | ✗ | break; | |
| 221 | } | ||
| 222 | ✗ | case rmfrom: { | |
| 223 | ✗ | Jsecond.derived() -= bp::extract<MatrixXs>(res[0])(); | |
| 224 | ✗ | break; | |
| 225 | } | ||
| 226 | ✗ | default: { | |
| 227 | ✗ | throw_pretty( | |
| 228 | "Invalid argument: allowed operators: setto, addto, rmfrom"); | ||
| 229 | break; | ||
| 230 | } | ||
| 231 | } | ||
| 232 | } | ||
| 233 | ✗ | } | |
| 234 | |||
| 235 | ✗ | bp::list Jintegrate_wrap(const Eigen::Ref<const VectorXs>& x, | |
| 236 | const Eigen::Ref<const VectorXs>& dx, | ||
| 237 | const Jcomponent firstsecond) const { | ||
| 238 | ✗ | assert_pretty( | |
| 239 | is_a_Jcomponent(firstsecond), | ||
| 240 | ("firstsecond must be one of the Jcomponent {both, first, second}")); | ||
| 241 | ✗ | if (static_cast<std::size_t>(x.size()) != nx_) { | |
| 242 | ✗ | throw_pretty( | |
| 243 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 244 | std::to_string(nx_) + ")"); | ||
| 245 | } | ||
| 246 | ✗ | if (static_cast<std::size_t>(dx.size()) != ndx_) { | |
| 247 | ✗ | throw_pretty( | |
| 248 | "Invalid argument: " << "dx has wrong dimension (it should be " + | ||
| 249 | std::to_string(ndx_) + ")"); | ||
| 250 | } | ||
| 251 | |||
| 252 | ✗ | bp::list Jacs; | |
| 253 | ✗ | switch (firstsecond) { | |
| 254 | ✗ | case first: { | |
| 255 | ✗ | MatrixXs J = bp::call<MatrixXs>(this->get_override("Jintegrate").ptr(), | |
| 256 | ✗ | (VectorXs)x, (VectorXs)dx, firstsecond); | |
| 257 | ✗ | Jacs.append(J); | |
| 258 | ✗ | break; | |
| 259 | ✗ | } | |
| 260 | ✗ | case second: { | |
| 261 | ✗ | MatrixXs J = bp::call<MatrixXs>(this->get_override("Jintegrate").ptr(), | |
| 262 | ✗ | (VectorXs)x, (VectorXs)dx, firstsecond); | |
| 263 | ✗ | Jacs.append(J); | |
| 264 | ✗ | break; | |
| 265 | ✗ | } | |
| 266 | ✗ | case both: { | |
| 267 | ✗ | Jacs = bp::call<bp::list>(this->get_override("Jintegrate").ptr(), | |
| 268 | ✗ | (VectorXs)x, (VectorXs)dx, firstsecond); | |
| 269 | ✗ | break; | |
| 270 | } | ||
| 271 | ✗ | default: { | |
| 272 | ✗ | Jacs = bp::call<bp::list>(this->get_override("Jintegrate").ptr(), | |
| 273 | ✗ | (VectorXs)x, (VectorXs)dx, firstsecond); | |
| 274 | ✗ | break; | |
| 275 | } | ||
| 276 | } | ||
| 277 | ✗ | return Jacs; | |
| 278 | ✗ | } | |
| 279 | |||
| 280 | ✗ | void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, | |
| 281 | const Eigen::Ref<const VectorXs>& dx, | ||
| 282 | Eigen::Ref<MatrixXs> Jin, | ||
| 283 | const Jcomponent firstsecond) const override { | ||
| 284 | ✗ | Jin = JintegrateTransport_wrap(x, dx, Jin, firstsecond); | |
| 285 | ✗ | } | |
| 286 | |||
| 287 | ✗ | MatrixXs JintegrateTransport_wrap(const Eigen::Ref<const VectorXs>& x, | |
| 288 | const Eigen::Ref<const VectorXs>& dx, | ||
| 289 | Eigen::Ref<MatrixXs> Jin, | ||
| 290 | const Jcomponent firstsecond) const { | ||
| 291 | ✗ | assert_pretty( | |
| 292 | is_a_Jcomponent(firstsecond), | ||
| 293 | ("firstsecond must be one of the Jcomponent {both, first, second}")); | ||
| 294 | ✗ | if (static_cast<std::size_t>(x.size()) != nx_) { | |
| 295 | ✗ | throw_pretty( | |
| 296 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 297 | std::to_string(nx_) + ")"); | ||
| 298 | } | ||
| 299 | ✗ | if (static_cast<std::size_t>(dx.size()) != ndx_) { | |
| 300 | ✗ | throw_pretty( | |
| 301 | "Invalid argument: " << "dx has wrong dimension (it should be " + | ||
| 302 | std::to_string(ndx_) + ")"); | ||
| 303 | } | ||
| 304 | return bp::call<MatrixXs>(this->get_override("JintegrateTransport").ptr(), | ||
| 305 | ✗ | (VectorXs)x, (VectorXs)dx, (MatrixXs)Jin, | |
| 306 | ✗ | firstsecond); | |
| 307 | } | ||
| 308 | |||
| 309 | template <typename NewScalar> | ||
| 310 | ✗ | StateAbstractTpl_wrap<NewScalar> cast() const { | |
| 311 | typedef StateAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 312 | ✗ | ReturnType ret(nx_, ndx_); | |
| 313 | ✗ | return ret; | |
| 314 | } | ||
| 315 | }; | ||
| 316 | |||
| 317 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Jdiffs, StateAbstract::Jdiff_Js, 2, 3) | ||
| 318 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(Jintegrates, | ||
| 319 | StateAbstract::Jintegrate_Js, 2, 3) | ||
| 320 | |||
| 321 | } // namespace python | ||
| 322 | } // namespace crocoddyl | ||
| 323 | |||
| 324 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_STATE_BASE_HPP_ | ||
| 325 |