Directory: | ./ |
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File: | bindings/python/algorithm/expose-aba-derivatives.cpp |
Date: | 2024-08-27 18:20:05 |
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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 | 1 | 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 | 1 | pinocchio::computeABADerivatives(model, data, q, v, tau); | |
28 | 1 | make_symmetric(data.Minv); | |
29 |
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2 | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); |
30 | } | ||
31 | |||
32 | ✗ | 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 | ✗ | pinocchio::computeABADerivatives(model, data, q, v, tau, fext); | |
41 | ✗ | make_symmetric(data.Minv); | |
42 | ✗ | 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 | 20 | void exposeABADerivatives() | |
61 | { | ||
62 | using namespace Eigen; | ||
63 | |||
64 |
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20 | bp::def( |
65 | 40 | "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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20 | bp::def( |
80 | "computeABADerivatives", computeABADerivatives_fext, | ||
81 | 40 | 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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20 | bp::def( |
98 | 40 | "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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20 | bp::def( |
108 | 40 | "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 | 20 | } | |
117 | } // namespace python | ||
118 | } // namespace pinocchio | ||
119 |