| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-aba-derivatives.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 18 | 26 | 69.2% |
| Branches: | 10 | 32 | 31.2% |
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| 1 | // | ||
| 2 | // Copyright (c) 2018-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
| 7 | #include "pinocchio/algorithm/aba-derivatives.hpp" | ||
| 8 | #include "pinocchio/bindings/python/utils/eigen.hpp" | ||
| 9 | |||
| 10 | #include <eigenpy/eigen-to-python.hpp> | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | namespace python | ||
| 15 | { | ||
| 16 | |||
| 17 | namespace bp = boost::python; | ||
| 18 | typedef PINOCCHIO_ALIGNED_STD_VECTOR(context::Force) ForceAlignedVector; | ||
| 19 | |||
| 20 | 2 | bp::tuple computeABADerivatives( | |
| 21 | const context::Model & model, | ||
| 22 | context::Data & data, | ||
| 23 | const context::VectorXs & q, | ||
| 24 | const context::VectorXs & v, | ||
| 25 | const context::VectorXs & tau) | ||
| 26 | { | ||
| 27 | 2 | pinocchio::computeABADerivatives(model, data, q, v, tau); | |
| 28 | 2 | make_symmetric(data.Minv); | |
| 29 |
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4 | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); |
| 30 | } | ||
| 31 | |||
| 32 | 1 | bp::tuple computeABADerivatives_fext( | |
| 33 | const context::Model & model, | ||
| 34 | context::Data & data, | ||
| 35 | const context::VectorXs & q, | ||
| 36 | const context::VectorXs & v, | ||
| 37 | const context::VectorXs & tau, | ||
| 38 | const ForceAlignedVector & fext) | ||
| 39 | { | ||
| 40 | 1 | pinocchio::computeABADerivatives(model, data, q, v, tau, fext); | |
| 41 | 1 | make_symmetric(data.Minv); | |
| 42 |
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2 | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); |
| 43 | } | ||
| 44 | |||
| 45 | ✗ | bp::tuple computeABADerivatives_min(const context::Model & model, context::Data & data) | |
| 46 | { | ||
| 47 | ✗ | pinocchio::computeABADerivatives(model, data); | |
| 48 | ✗ | make_symmetric(data.Minv); | |
| 49 | ✗ | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); | |
| 50 | } | ||
| 51 | |||
| 52 | ✗ | bp::tuple computeABADerivatives_min_fext( | |
| 53 | const context::Model & model, context::Data & data, const ForceAlignedVector & fext) | ||
| 54 | { | ||
| 55 | ✗ | pinocchio::computeABADerivatives(model, data, fext); | |
| 56 | ✗ | make_symmetric(data.Minv); | |
| 57 | ✗ | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); | |
| 58 | } | ||
| 59 | |||
| 60 | 69 | void exposeABADerivatives() | |
| 61 | { | ||
| 62 | using namespace Eigen; | ||
| 63 | |||
| 64 |
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69 | bp::def( |
| 65 | 138 | "computeABADerivatives", computeABADerivatives, bp::args("model", "data", "q", "v", "tau"), | |
| 66 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and " | ||
| 67 | "data.Minv (aka ddq_dtau)\n" | ||
| 68 | "which correspond to the partial derivatives of the joint acceleration vector output " | ||
| 69 | "with respect to the joint configuration,\n" | ||
| 70 | "velocity and torque vectors.\n\n" | ||
| 71 | "Parameters:\n" | ||
| 72 | "\tmodel: model of the kinematic tree\n" | ||
| 73 | "\tdata: data related to the model\n" | ||
| 74 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 75 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 76 | "\ttau: the joint torque vector (size model.nv)\n\n" | ||
| 77 | "Returns: (ddq_dq, ddq_dv, ddq_da)"); | ||
| 78 | |||
| 79 |
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69 | bp::def( |
| 80 | "computeABADerivatives", computeABADerivatives_fext, | ||
| 81 | 138 | bp::args("model", "data", "q", "v", "tau", "fext"), | |
| 82 | "Computes the ABA derivatives with external contact foces,\n" | ||
| 83 | "store the result in data.ddq_dq, data.ddq_dv and data.Minv (aka ddq_dtau)\n" | ||
| 84 | "which correspond to the partial derivatives of the acceleration output with respect " | ||
| 85 | "to the joint configuration,\n" | ||
| 86 | "velocity and torque vectors.\n\n" | ||
| 87 | "Parameters:\n" | ||
| 88 | "\tmodel: model of the kinematic tree\n" | ||
| 89 | "\tdata: data related to the model\n" | ||
| 90 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 91 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 92 | "\ttau: the joint torque vector (size model.nv)\n" | ||
| 93 | "\tfext: list of external forces expressed in the local frame of the joints (size " | ||
| 94 | "model.njoints)\n\n" | ||
| 95 | "Returns: (ddq_dq, ddq_dv, ddq_da)"); | ||
| 96 | |||
| 97 |
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69 | bp::def( |
| 98 | 138 | "computeABADerivatives", computeABADerivatives_min, bp::args("model", "data"), | |
| 99 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n" | ||
| 100 | "which correspond to the partial derivatives of the joint acceleration vector output with " | ||
| 101 | "respect to the joint configuration,\n" | ||
| 102 | "velocity and torque vectors.\n" | ||
| 103 | "By calling this function, the user assumes that pinocchio.optimized.aba has been called " | ||
| 104 | "first, allowing to significantly reduce the computation timings by not recalculating " | ||
| 105 | "intermediate results."); | ||
| 106 | |||
| 107 |
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69 | bp::def( |
| 108 | 138 | "computeABADerivatives", computeABADerivatives_min_fext, bp::args("model", "data", "fext"), | |
| 109 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n" | ||
| 110 | "which correspond to the partial derivatives of the joint acceleration vector output with " | ||
| 111 | "respect to the joint configuration,\n" | ||
| 112 | "velocity and torque vectors.\n" | ||
| 113 | "By calling this function, the user assumes that pinocchio.optimized.aba has been called " | ||
| 114 | "first, allowing to significantly reduce the computation timings by not recalculating " | ||
| 115 | "intermediate results."); | ||
| 116 | 69 | } | |
| 117 | } // namespace python | ||
| 118 | } // namespace pinocchio | ||
| 119 |