| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/actions/unicycle.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 14 | 14 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/actions/unicycle.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/action-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ActionModelUnicycleVisitor | ||
| 20 | : public bp::def_visitor<ActionModelUnicycleVisitor<Model>> { | ||
| 21 | typedef typename Model::ActionDataAbstract Data; | ||
| 22 | typedef typename Model::VectorXs VectorXs; | ||
| 23 | BOOST_PYTHON_FUNCTION_OVERLOADS(ActionModelLQR_Random_wrap, Model::Random, 2, | ||
| 24 | 4) | ||
| 25 | template <class PyClass> | ||
| 26 | 40 | void visit(PyClass& cl) const { | |
| 27 | 40 | cl.def("calc", | |
| 28 | static_cast<void (Model::*)( | ||
| 29 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 30 | const Eigen::Ref<const VectorXs>&)>(&Model::calc), | ||
| 31 | bp::args("self", "data", "x", "u"), | ||
| 32 | "Compute the next state and cost value.\n\n" | ||
| 33 | "It describes the time-discrete evolution of the unicycle system. " | ||
| 34 | "Additionally it computes the cost value associated to this " | ||
| 35 | "discrete state and control pair.\n" | ||
| 36 | ":param data: action data\n" | ||
| 37 | ":param x: state point (dim. state.nx)\n" | ||
| 38 | ":param u: control input (dim. nu)") | ||
| 39 |
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80 | .def("calc", |
| 40 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 41 | const Eigen::Ref<const VectorXs>&)>( | ||
| 42 | &Model::calc), | ||
| 43 | bp::args("self", "data", "x")) | ||
| 44 |
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80 | .def( |
| 45 | "calcDiff", | ||
| 46 | static_cast<void (Model::*)( | ||
| 47 | const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&, | ||
| 48 | const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff), | ||
| 49 | bp::args("self", "data", "x", "u"), | ||
| 50 | "Compute the derivatives of the unicycle dynamics and cost " | ||
| 51 | "functions.\n\n" | ||
| 52 | "It computes the partial derivatives of the unicycle system and " | ||
| 53 | "the cost function. It assumes that calc has been run first. This " | ||
| 54 | "function builds a quadratic approximation of the action model " | ||
| 55 | "(i.e. dynamical system and cost function).\n" | ||
| 56 | ":param data: action data\n" | ||
| 57 | ":param x: state point (dim. state.nx)\n" | ||
| 58 | ":param u: control input (dim. nu)") | ||
| 59 |
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80 | .def("calcDiff", |
| 60 | static_cast<void (Model::*)(const std::shared_ptr<Data>&, | ||
| 61 | const Eigen::Ref<const VectorXs>&)>( | ||
| 62 | &Model::calcDiff), | ||
| 63 | bp::args("self", "data", "x")) | ||
| 64 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 65 | "Create the unicycle action data.") | ||
| 66 |
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80 | .add_property("dt", bp::make_function(&Model::get_dt), |
| 67 | bp::make_function(&Model::set_dt), "integration time") | ||
| 68 |
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80 | .add_property("costWeights", |
| 69 | bp::make_function(&Model::get_cost_weights, | ||
| 70 | 40 | bp::return_internal_reference<>()), | |
| 71 | bp::make_function(&Model::set_cost_weights), | ||
| 72 | "cost weights"); | ||
| 73 | 40 | } | |
| 74 | }; | ||
| 75 | |||
| 76 | #define CROCODDYL_ACTION_MODEL_UNICYCLE_PYTHON_BINDINGS(Scalar) \ | ||
| 77 | typedef ActionModelUnicycleTpl<Scalar> Model; \ | ||
| 78 | typedef ActionModelAbstractTpl<Scalar> ModelBase; \ | ||
| 79 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 80 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 81 | "ActionModelUnicycle", \ | ||
| 82 | "Unicycle action model.\n\n" \ | ||
| 83 | "The transition model of an unicycle system is described as\n" \ | ||
| 84 | " xnext = [v*cos(theta); v*sin(theta); w],\n" \ | ||
| 85 | "where the position is defined by (x, y, theta) and the control input " \ | ||
| 86 | "by (v,w). Note that the state is defined only with the position. On " \ | ||
| 87 | "the other hand, we define the quadratic cost functions for the state " \ | ||
| 88 | "and control.", \ | ||
| 89 | bp::init<>(bp::args("self"), "Initialize the unicycle action model.")) \ | ||
| 90 | .def(ActionModelUnicycleVisitor<Model>()) \ | ||
| 91 | .def(CastVisitor<Model>()) \ | ||
| 92 | .def(PrintableVisitor<Model>()) \ | ||
| 93 | .def(CopyableVisitor<Model>()); | ||
| 94 | |||
| 95 | #define CROCODDYL_ACTION_DATA_UNICYCLE_PYTHON_BINDINGS(Scalar) \ | ||
| 96 | typedef ActionDataUnicycleTpl<Scalar> Data; \ | ||
| 97 | typedef ActionDataAbstractTpl<Scalar> DataBase; \ | ||
| 98 | typedef ActionModelUnicycleTpl<Scalar> Model; \ | ||
| 99 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 100 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 101 | "ActionDataUnicycle", \ | ||
| 102 | "Action data for the Unicycle system.\n\n" \ | ||
| 103 | "The unicycle data, apart of common one, contains the cost residuals " \ | ||
| 104 | "used for the computation of calc and calcDiff.", \ | ||
| 105 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 106 | "Create unicycle data.\n\n" \ | ||
| 107 | ":param model: unicycle action model")) \ | ||
| 108 | .def(CopyableVisitor<Data>()); | ||
| 109 | |||
| 110 | 10 | void exposeActionUnicycle() { | |
| 111 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTION_MODEL_UNICYCLE_PYTHON_BINDINGS) |
| 112 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTION_DATA_UNICYCLE_PYTHON_BINDINGS) |
| 113 | 10 | } | |
| 114 | |||
| 115 | } // namespace python | ||
| 116 | } // namespace crocoddyl | ||
| 117 |