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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 exposeActionQuadrupedTime() { |
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bp::class_<ActionModelQuadrupedTime, bp::bases<ActionModelAbstract> >( |
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"ActionModelQuadrupedTime", |
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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<>(bp::args("self"), "Initialize the quadruped action model.")) |
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.def("calc", &ActionModelQuadrupedTime::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 (ActionModelQuadrupedTime::*)( |
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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", &ActionModelQuadrupedTime::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 (ActionModelQuadrupedTime::*)( |
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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", &ActionModelQuadrupedTime::createData, |
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bp::args("self"), "Create the quadruped action data.") |
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.def("updateModel", &ActionModelQuadrupedTime::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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"stateWeights", |
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bp::make_function(&ActionModelQuadrupedTime::get_state_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_state_weights), |
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"Weights on the state vector") |
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.add_property( |
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"heuristicWeights", |
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bp::make_function(&ActionModelQuadrupedTime::get_heuristic_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_heuristic_weights), |
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"Weights on the heuristic position of the shoulder term to lead the " |
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"optimisation") |
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.add_property( |
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"symmetry_term", |
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bp::make_function(&ActionModelQuadrupedTime::get_symmetry_term, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_symmetry_term), |
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"symmetry term for the foot position heuristic") |
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.add_property( |
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"centrifugal_term", |
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bp::make_function(&ActionModelQuadrupedTime::get_centrifugal_term, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_centrifugal_term), |
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"centrifugal term for the foot position heuristic") |
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.add_property( |
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"T_gait", |
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bp::make_function(&ActionModelQuadrupedTime::get_T_gait, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_T_gait), |
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"Gait period, used to compute the symmetry term") |
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.add_property( |
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"dt_ref", |
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bp::make_function(&ActionModelQuadrupedTime::get_dt_ref, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_dt_ref), |
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"To fix the integration time using the cost weight*||u-dt_ref||^2") |
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.add_property( |
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"dt_min", |
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bp::make_function(&ActionModelQuadrupedTime::get_dt_min, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_dt_min), |
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"Lower bound for integration time") |
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.add_property( |
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"dt_max", |
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bp::make_function(&ActionModelQuadrupedTime::get_dt_max, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_dt_max), |
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"Upper bound for integration time") |
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.add_property( |
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"dt_weight_cmd", |
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bp::make_function(&ActionModelQuadrupedTime::get_dt_weight_cmd, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_dt_weight_cmd), |
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"To fix the integration time using the cost " |
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"dt_weight_cmd*||u-dt_ref||^2") |
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.add_property( |
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"dt_weight_bound_cmd", |
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bp::make_function(&ActionModelQuadrupedTime::get_dt_bound_weight_cmd, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&ActionModelQuadrupedTime::set_dt_bound_weight_cmd), |
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"Penalisation weight for upper/lower bound of the integration time") |
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.add_property("Cost", |
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bp::make_function(&ActionModelQuadrupedTime::get_cost, |
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bp::return_internal_reference<>()), |
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"Access to the cost, Array "); |
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bp::register_ptr_to_python<boost::shared_ptr<ActionDataQuadrupedTime> >(); |
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bp::class_<ActionDataQuadrupedTime, bp::bases<ActionDataAbstract> >( |
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"ActionDataQuadrupedTime", |
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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<ActionModelQuadrupedTime*>( |
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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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