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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 double |
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#include "crocoddyl/core/actions/unicycle.hpp" |
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#include "python/crocoddyl/core/action-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 Model> |
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struct ActionModelUnicycleVisitor |
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: public bp::def_visitor<ActionModelUnicycleVisitor<Model>> { |
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typedef typename Model::ActionDataAbstract Data; |
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typedef typename Model::VectorXs VectorXs; |
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BOOST_PYTHON_FUNCTION_OVERLOADS(ActionModelLQR_Random_wrap, Model::Random, 2, |
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4) |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("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 next state and cost value.\n\n" |
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"It describes the time-discrete evolution of the unicycle system. " |
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"Additionally it computes the cost value associated to this " |
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"discrete state and control pair.\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("calc", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::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 unicycle dynamics and cost " |
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"functions.\n\n" |
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"It computes the partial derivatives of the unicycle system and " |
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"the cost function. It assumes that calc has been run first. This " |
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"function builds a quadratic approximation of the action model " |
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"(i.e. dynamical system and cost function).\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("calcDiff", |
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static_cast<void (Model::*)(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&)>( |
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&Model::calcDiff), |
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bp::args("self", "data", "x")) |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the unicycle action data.") |
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.add_property( |
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"ng", bp::make_function(&Model::get_ng), "number of equality constraints") |
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.add_property( |
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"nh", bp::make_function(&Model::get_nh), "number of inequality constraints") |
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.add_property( |
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"ng_T", bp::make_function(&Model::get_ng_T), "number of equality terminal constraints") |
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.add_property( |
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"nh_T", bp::make_function(&Model::get_nh_T), "number of inequality terminal constraints") |
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.add_property("dt", bp::make_function(&Model::get_dt), |
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bp::make_function(&Model::set_dt), "integration time") |
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.add_property("costWeights", |
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bp::make_function(&Model::get_cost_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&Model::set_cost_weights), |
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"cost weights"); |
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} |
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}; |
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#define CROCODDYL_ACTION_MODEL_UNICYCLE_PYTHON_BINDINGS(Scalar) \ |
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typedef ActionModelUnicycleTpl<Scalar> Model; \ |
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typedef ActionModelAbstractTpl<Scalar> ModelBase; \ |
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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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"ActionModelUnicycle", \ |
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"Unicycle action model.\n\n" \ |
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"The transition model of an unicycle system is described as\n" \ |
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" xnext = [v*cos(theta); v*sin(theta); w],\n" \ |
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"where the position is defined by (x, y, theta) and the control input " \ |
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"by (v,w). Note that the state is defined only with the position. On " \ |
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"the other hand, we define the quadratic cost functions for the state " \ |
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"and control.", \ |
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bp::init<>(bp::args("self"), "Initialize the unicycle action model.")) \ |
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.def(ActionModelUnicycleVisitor<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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#define CROCODDYL_ACTION_DATA_UNICYCLE_PYTHON_BINDINGS(Scalar) \ |
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typedef ActionDataUnicycleTpl<Scalar> Data; \ |
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typedef ActionDataAbstractTpl<Scalar> DataBase; \ |
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typedef ActionModelUnicycleTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"ActionDataUnicycle", \ |
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"Action data for the Unicycle system.\n\n" \ |
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"The unicycle data, apart of common one, contains the cost residuals " \ |
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"used for the computation of calc and calcDiff.", \ |
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bp::init<Model*>(bp::args("self", "model"), \ |
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"Create unicycle data.\n\n" \ |
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":param model: unicycle action model")) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeActionUnicycle() { |
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CROCODDYL_ACTION_MODEL_UNICYCLE_PYTHON_BINDINGS(double) |
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CROCODDYL_ACTION_DATA_UNICYCLE_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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