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#include "action-base.hpp" |
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#include "core.hpp" |
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namespace quadruped_walkgen { |
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namespace python { |
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void exposeActionQuadrupedNonLinear() { |
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bp::class_<ActionModelQuadrupedNonLinear, bp::bases<ActionModelAbstract>>( |
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"ActionModelQuadrupedNonLinear", |
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"Quadruped action model, non linear.\n\n" |
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"The model is based on simplified dynamic model\n" |
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" xnext = Ax + Bu + g,\n" |
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"The lever arms assumption is not take into account : the B matrix and " |
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"its derivative depends on the state x\n" |
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"where x i the state vector defined as : \n" |
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"x = [x , y, z, rool, pitch, yaw, Vx, Vy, Vz, Vrool, Vpitch, Vyaw] , 12x " |
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"\n\n" |
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"and u is the groud reaction forces at each 4 foot, defined as : \n" |
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"u = [fx1 , fy1, fz1, ... fz4], 12x", |
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bp::init<Eigen::Matrix<double, 3, 1>>( |
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bp::args("self", "offset_CoM"), |
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"Initialize the quadruped action model.")) |
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.def("calc", &ActionModelQuadrupedNonLinear::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 quadruped system.\n" |
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"Additionally it computes the cost value associated to this " |
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"discrete\n" |
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"state and control pair.\n" |
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":param data: action data\n" |
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":param x: time-discrete state vector\n" |
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":param u: time-discrete control input") |
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.def<void (ActionModelQuadrupedNonLinear::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calc", &ActionModelAbstract::calc, bp::args("self", "data", "x")) |
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.def("calcDiff", &ActionModelQuadrupedNonLinear::calcDiff, |
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bp::args("self", "data", "x", "u"), |
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"Compute the derivatives of the quadruped dynamics and cost " |
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"functions.\n\n" |
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"It computes the partial derivatives of the quadruped system and " |
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"the\n" |
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"cost function. It assumes that calc has been run first.\n" |
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"This function builds a quadratic approximation of the\n" |
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"action model (i.e. dynamical system and cost function).\n" |
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":param data: action data\n" |
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":param x: time-discrete state vector\n" |
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":param u: time-discrete control input\n") |
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.def<void (ActionModelQuadrupedNonLinear::*)( |
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const boost::shared_ptr<ActionDataAbstract>&, |
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const Eigen::Ref<const Eigen::VectorXd>&)>( |
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"calcDiff", &ActionModelAbstract::calcDiff, |
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bp::args("self", "data", "x")) |
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.def("createData", &ActionModelQuadrupedNonLinear::createData, |
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bp::args("self"), "Create the quadruped action data.") |
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.def("updateModel", &ActionModelQuadrupedNonLinear::update_model, |
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bp::args("self", "l_feet", "xref", "S"), |
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"Update the quadruped model depending on the position of the foot " |
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"in the local frame\n\n" |
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":param l_feet : 3x4, Matrix representing the position of the foot " |
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"in the local frame \n " |
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" Each colum represents the position of one foot : " |
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"x,y,z" |
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":param xref : 12x1, Vector representing the reference state." |
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":param S : 4x1, Vector representing the foot in contact with the " |
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"ground." |
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" S = [1 0 0 1] --> Foot 1 and 4 in contact.") |
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.add_property( |
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"forceWeights", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_force_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_force_weights), |
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"Weights on the control input : ground reaction forces") |
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.add_property( |
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"stateWeights", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_state_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_state_weights), |
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"Weights on the state vector") |
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.add_property( |
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"frictionWeights", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_friction_weight, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function( |
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&ActionModelQuadrupedNonLinear::set_friction_weight), |
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"Weight on friction cone term") |
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.add_property( |
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"mu", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_mu, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_mu), |
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"Friction coefficient") |
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.add_property( |
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"mass", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_mass, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_mass), |
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"Mass \n Warning : The model needs to be updated") |
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.add_property( |
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"shoulder_hlim", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_shoulder_hlim, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_shoulder_hlim), |
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"Shoulder height limit ") |
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.add_property( |
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"shoulderWeights", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_shoulder_weight, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function( |
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&ActionModelQuadrupedNonLinear::set_shoulder_weight), |
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"shoulder Weight term (scalar) ") |
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.add_property( |
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"dt", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_dt, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_dt), |
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"Minimum normal force allowed for feet in contact with the ground \n " |
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"Warning : The model needs to be " |
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"updated") |
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.add_property( |
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"min_fz", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_min_fz_contact, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_min_fz_contact), |
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"dt \n Warning : The model needs to be updated") |
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.add_property( |
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"max_fz", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_max_fz_contact, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_max_fz_contact), |
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"dt \n Warning : The model needs to be updated") |
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.add_property( |
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"gI", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_gI, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedNonLinear::set_gI), |
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"Inertia matrix of the robot in body frame (found in urdf) \n " |
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"Warning : The model needs to be updated") |
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.add_property( |
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"relative_forces", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_relative_forces, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function( |
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&ActionModelQuadrupedNonLinear::set_relative_forces), |
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"relative norm ") |
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.add_property("A", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_A, |
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bp::return_internal_reference<>()), |
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"get A matrix") |
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.add_property("B", |
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bp::make_function(&ActionModelQuadrupedNonLinear::get_B, |
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bp::return_internal_reference<>()), |
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"get B matrix"); |
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bp::register_ptr_to_python<boost::shared_ptr<ActionDataQuadrupedNonLinear>>(); |
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bp::class_<ActionDataQuadrupedNonLinear, bp::bases<ActionDataAbstract>>( |
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"ActionDataQuadrupedNonLinear", |
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"Action data for the non linear quadruped system.\n\n" |
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"The quadruped data, apart of common one, contains the cost residuals " |
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"used\n" |
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"for the computation of calc and calcDiff.", |
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bp::init<ActionModelQuadrupedNonLinear*>( |
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bp::args("self", "model"), |
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"Create quadruped data.\n\n" |
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":param model: quadruped action model")); |
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} |
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} // namespace python |
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} // namespace quadruped_walkgen |
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