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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, 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 double |
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#include "crocoddyl/multibody/residuals/state.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ResidualModelStateVisitor |
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: public bp::def_visitor<ResidualModelStateVisitor<Model>> { |
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typedef typename Model::ResidualDataAbstract Data; |
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typedef typename Model::Base ModelBase; |
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typedef typename Model::StateAbstract State; |
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typedef typename Model::VectorXs VectorXs; |
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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::shared_ptr<State>, VectorXs>( |
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bp::args("self", "state", "xref"), |
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"Initialize the state cost model.\n\n" |
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"The default nu value is obtained from state.nv.\n" |
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":param state: state description\n" |
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":param xref: reference state")) |
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.def(bp::init<std::shared_ptr<State>, std::size_t>( |
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bp::args("self", "state", "nu"), |
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"Initialize the state cost model.\n\n" |
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"The default reference state is obtained from state.zero().\n" |
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":param state: state description\n" |
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":param nu: dimension of control vector")) |
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.def(bp::init<std::shared_ptr<State>>( |
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bp::args("self", "state"), |
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"Initialize the state cost model.\n\n" |
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"The default reference state is obtained from state.zero(), and nu " |
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"from state.nv.\n" |
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":param state: state description")) |
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.def( |
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"calc", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calc), |
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bp::args("self", "data", "x", "u"), |
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"Compute the state cost.\n\n" |
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":param data: cost data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calc", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calc), |
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bp::args("self", "data", "x")) |
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.def( |
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"calcDiff", |
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static_cast<void (Model::*)( |
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const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the state cost.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: action data\n" |
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":param x: state point (dim. state.nx)\n" |
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":param u: control input (dim. nu)") |
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.def( |
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"calcDiff", |
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static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&ModelBase::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &Model::createData, |
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bp::with_custodian_and_ward_postcall<0, 2>(), |
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bp::args("self", "data"), |
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"Create the stae residual data.\n\n" |
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"Each residual model has its own data that needs to be allocated. " |
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"This function\n" |
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"returns the allocated data for the control residual.\n" |
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":param data: shared data\n" |
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":return residual data.") |
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.add_property("reference", |
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bp::make_function(&Model::get_reference, |
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bp::return_internal_reference<>()), |
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&Model::set_reference, "reference state"); |
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} |
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}; |
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#define CROCODDYL_RESIDUAL_MODEL_STATE_PYTHON_BINDINGS(Scalar) \ |
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typedef ResidualModelStateTpl<Scalar> Model; \ |
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typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ |
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typedef typename ModelBase::StateAbstract State; \ |
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typedef typename ModelBase::VectorXs VectorXs; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ResidualModelState", \ |
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"This cost function defines a residual vector as r = x - xref, with x " \ |
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"and xref as the current and reference state, respectively.", \ |
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bp::init<std::shared_ptr<State>, VectorXs, std::size_t>( \ |
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bp::args("self", "state", "xref", "nu"), \ |
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"Initialize the state cost model.\n\n" \ |
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":param state: state description\n" \ |
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":param xref: reference state (default state.zero())\n" \ |
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":param nu: dimension of control vector")) \ |
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.def(ResidualModelStateVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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void exposeResidualState() { |
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CROCODDYL_RESIDUAL_MODEL_STATE_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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