| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/residuals/state.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 15 | 16 | 93.8% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/residuals/state.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Model> | ||
| 17 | struct ResidualModelStateVisitor | ||
| 18 | : public bp::def_visitor<ResidualModelStateVisitor<Model>> { | ||
| 19 | typedef typename Model::ResidualDataAbstract Data; | ||
| 20 | typedef typename Model::Base ModelBase; | ||
| 21 | typedef typename Model::StateAbstract State; | ||
| 22 | typedef typename Model::VectorXs VectorXs; | ||
| 23 | template <class PyClass> | ||
| 24 | 40 | void visit(PyClass& cl) const { | |
| 25 |
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40 | cl.def(bp::init<std::shared_ptr<State>, VectorXs>( |
| 26 | bp::args("self", "state", "xref"), | ||
| 27 | "Initialize the state cost model.\n\n" | ||
| 28 | "The default nu value is obtained from state.nv.\n" | ||
| 29 | ":param state: state description\n" | ||
| 30 | ":param xref: reference state")) | ||
| 31 |
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80 | .def(bp::init<std::shared_ptr<State>, std::size_t>( |
| 32 | bp::args("self", "state", "nu"), | ||
| 33 | "Initialize the state cost model.\n\n" | ||
| 34 | "The default reference state is obtained from state.zero().\n" | ||
| 35 | ":param state: state description\n" | ||
| 36 | ":param nu: dimension of control vector")) | ||
| 37 |
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80 | .def(bp::init<std::shared_ptr<State>>( |
| 38 | bp::args("self", "state"), | ||
| 39 | "Initialize the state cost model.\n\n" | ||
| 40 | "The default reference state is obtained from state.zero(), and nu " | ||
| 41 | "from state.nv.\n" | ||
| 42 | ":param state: state description")) | ||
| 43 |
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80 | .def( |
| 44 | "calc", | ||
| 45 | static_cast<void (Model::*)( | ||
| 46 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 47 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 48 | bp::args("self", "data", "x", "u"), | ||
| 49 | "Compute the state cost.\n\n" | ||
| 50 | ":param data: cost data\n" | ||
| 51 | ":param x: state point (dim. state.nx)\n" | ||
| 52 | ":param u: control input (dim. nu)") | ||
| 53 |
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80 | .def( |
| 54 | "calc", | ||
| 55 | static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, | ||
| 56 | const Eigen::Ref<const VectorXs>&)>( | ||
| 57 | &ModelBase::calc), | ||
| 58 | bp::args("self", "data", "x")) | ||
| 59 |
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80 | .def( |
| 60 | "calcDiff", | ||
| 61 | static_cast<void (Model::*)( | ||
| 62 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 63 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 64 | bp::args("self", "data", "x", "u"), | ||
| 65 | "Compute the derivatives of the state cost.\n\n" | ||
| 66 | "It assumes that calc has been run first.\n" | ||
| 67 | ":param data: action data\n" | ||
| 68 | ":param x: state point (dim. state.nx)\n" | ||
| 69 | ":param u: control input (dim. nu)") | ||
| 70 |
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80 | .def( |
| 71 | "calcDiff", | ||
| 72 | static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&, | ||
| 73 | const Eigen::Ref<const VectorXs>&)>( | ||
| 74 | &ModelBase::calcDiff), | ||
| 75 | bp::args("self", "data", "x")) | ||
| 76 |
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80 | .def("createData", &Model::createData, |
| 77 | ✗ | bp::with_custodian_and_ward_postcall<0, 2>(), | |
| 78 | bp::args("self", "data"), | ||
| 79 | "Create the stae residual data.\n\n" | ||
| 80 | "Each residual model has its own data that needs to be allocated. " | ||
| 81 | "This function\n" | ||
| 82 | "returns the allocated data for the control residual.\n" | ||
| 83 | ":param data: shared data\n" | ||
| 84 | ":return residual data.") | ||
| 85 |
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40 | .add_property("reference", |
| 86 | bp::make_function(&Model::get_reference, | ||
| 87 | 40 | bp::return_internal_reference<>()), | |
| 88 | &Model::set_reference, "reference state"); | ||
| 89 | 40 | } | |
| 90 | }; | ||
| 91 | |||
| 92 | #define CROCODDYL_RESIDUAL_MODEL_STATE_PYTHON_BINDINGS(Scalar) \ | ||
| 93 | typedef ResidualModelStateTpl<Scalar> Model; \ | ||
| 94 | typedef ResidualModelAbstractTpl<Scalar> ModelBase; \ | ||
| 95 | typedef typename ModelBase::StateAbstract State; \ | ||
| 96 | typedef typename ModelBase::VectorXs VectorXs; \ | ||
| 97 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 98 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 99 | "ResidualModelState", \ | ||
| 100 | "This cost function defines a residual vector as r = x - xref, with x " \ | ||
| 101 | "and xref as the current and reference state, respectively.", \ | ||
| 102 | bp::init<std::shared_ptr<State>, VectorXs, std::size_t>( \ | ||
| 103 | bp::args("self", "state", "xref", "nu"), \ | ||
| 104 | "Initialize the state cost model.\n\n" \ | ||
| 105 | ":param state: state description\n" \ | ||
| 106 | ":param xref: reference state (default state.zero())\n" \ | ||
| 107 | ":param nu: dimension of control vector")) \ | ||
| 108 | .def(ResidualModelStateVisitor<Model>()) \ | ||
| 109 | .def(CastVisitor<Model>()) \ | ||
| 110 | .def(PrintableVisitor<Model>()) \ | ||
| 111 | .def(CopyableVisitor<Model>()); | ||
| 112 | |||
| 113 | 10 | void exposeResidualState() { | |
| 114 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_MODEL_STATE_PYTHON_BINDINGS) |
| 115 | 10 | } | |
| 116 | |||
| 117 | } // namespace python | ||
| 118 | } // namespace crocoddyl | ||
| 119 |