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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh |
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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_ |
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#include <quadruped-walkgen/quadruped.hpp> |
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#include <quadruped-walkgen/quadruped_augmented.hpp> |
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#include <quadruped-walkgen/quadruped_augmented_time.hpp> |
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#include <quadruped-walkgen/quadruped_nl.hpp> |
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#include <quadruped-walkgen/quadruped_step.hpp> |
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#include <quadruped-walkgen/quadruped_step_period.hpp> |
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#include <quadruped-walkgen/quadruped_step_time.hpp> |
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#include <quadruped-walkgen/quadruped_time.hpp> |
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#include "core.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace quadruped_walkgen { |
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namespace python { |
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class ActionModelAbstract_wrap : public ActionModelAbstract, |
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public bp::wrapper<ActionModelAbstract> { |
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public: |
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ActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state, |
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const std::size_t& nu, const std::size_t& nr = 1) |
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: ActionModelAbstract(state, nu, nr), |
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bp::wrapper<ActionModelAbstract>() {} |
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void calc(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x, |
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const Eigen::Ref<const Eigen::VectorXd>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calc").ptr(), data, |
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(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
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} |
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void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& x, |
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const Eigen::Ref<const Eigen::VectorXd>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty("Invalid argument: " |
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<< "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(Eigen::VectorXd)x, (Eigen::VectorXd)u); |
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} |
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}; |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ActionModel_quasiStatic_wraps, |
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ActionModelAbstract::quasiStatic_x, 2, 4) |
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} // namespace python |
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} // namespace quadruped_walkgen |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_ |
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