| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-contact-dynamics.cpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 22 | 36 | 61.1% |
| Branches: | 67 | 142 | 47.2% |
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| 1 | // | ||
| 2 | // Copyright (c) 2020-2021 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/contact-dynamics.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | |||
| 13 | 1 | static const context::VectorXs forwardDynamics_proxy( | |
| 14 | const context::Model & model, | ||
| 15 | context::Data & data, | ||
| 16 | const context::VectorXs & q, | ||
| 17 | const context::VectorXs & v, | ||
| 18 | const context::VectorXs & tau, | ||
| 19 | const context::MatrixXs & J, | ||
| 20 | const context::VectorXs & gamma, | ||
| 21 | const context::Scalar inv_damping = context::Scalar(0.0)) | ||
| 22 | { | ||
| 23 | |||
| 24 | PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH | ||
| 25 | PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 26 | 1 | return forwardDynamics(model, data, q, v, tau, J, gamma, inv_damping); | |
| 27 | PINOCCHIO_COMPILER_DIAGNOSTIC_POP | ||
| 28 | } | ||
| 29 | |||
| 30 | ✗ | static const context::VectorXs forwardDynamics_proxy_no_q( | |
| 31 | const context::Model & model, | ||
| 32 | context::Data & data, | ||
| 33 | const context::VectorXs & tau, | ||
| 34 | const context::MatrixXs & J, | ||
| 35 | const context::VectorXs & gamma, | ||
| 36 | const context::Scalar inv_damping = context::Scalar(0.0)) | ||
| 37 | { | ||
| 38 | |||
| 39 | PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH | ||
| 40 | PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 41 | ✗ | return forwardDynamics(model, data, tau, J, gamma, inv_damping); | |
| 42 | PINOCCHIO_COMPILER_DIAGNOSTIC_POP | ||
| 43 | } | ||
| 44 | |||
| 45 | ✗ | static const context::VectorXs impulseDynamics_proxy( | |
| 46 | const context::Model & model, | ||
| 47 | context::Data & data, | ||
| 48 | const context::VectorXs & q, | ||
| 49 | const context::VectorXs & v_before, | ||
| 50 | const context::MatrixXs & J, | ||
| 51 | const context::Scalar r_coeff = context::Scalar(0.), | ||
| 52 | const context::Scalar inv_damping = context::Scalar(0.)) | ||
| 53 | { | ||
| 54 | |||
| 55 | PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH | ||
| 56 | PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 57 | ✗ | return impulseDynamics(model, data, q, v_before, J, r_coeff, inv_damping); | |
| 58 | PINOCCHIO_COMPILER_DIAGNOSTIC_POP | ||
| 59 | } | ||
| 60 | |||
| 61 | ✗ | static const context::VectorXs impulseDynamics_proxy_no_q( | |
| 62 | const context::Model & model, | ||
| 63 | context::Data & data, | ||
| 64 | const context::VectorXs & v_before, | ||
| 65 | const context::MatrixXs & J, | ||
| 66 | const context::Scalar r_coeff = context::Scalar(0.), | ||
| 67 | const context::Scalar inv_damping = context::Scalar(0.)) | ||
| 68 | { | ||
| 69 | |||
| 70 | PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH | ||
| 71 | PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 72 | ✗ | return impulseDynamics(model, data, v_before, J, r_coeff, inv_damping); | |
| 73 | PINOCCHIO_COMPILER_DIAGNOSTIC_POP | ||
| 74 | } | ||
| 75 | |||
| 76 | ✗ | static context::MatrixXs computeKKTContactDynamicMatrixInverse_proxy( | |
| 77 | const context::Model & model, | ||
| 78 | context::Data & data, | ||
| 79 | const context::VectorXs & q, | ||
| 80 | const context::MatrixXs & J, | ||
| 81 | const context::Scalar mu = context::Scalar(0)) | ||
| 82 | { | ||
| 83 | ✗ | context::MatrixXs KKTMatrix_inv(model.nv + J.rows(), model.nv + J.rows()); | |
| 84 | ✗ | computeKKTContactDynamicMatrixInverse(model, data, q, J, KKTMatrix_inv, mu); | |
| 85 | ✗ | return KKTMatrix_inv; | |
| 86 | } | ||
| 87 | |||
| 88 | ✗ | static const context::MatrixXs getKKTContactDynamicMatrixInverse_proxy( | |
| 89 | const context::Model & model, context::Data & data, const context::MatrixXs & J) | ||
| 90 | { | ||
| 91 | ✗ | context::MatrixXs MJtJ_inv(model.nv + J.rows(), model.nv + J.rows()); | |
| 92 | |||
| 93 | PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH | ||
| 94 | PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 95 | ✗ | getKKTContactDynamicMatrixInverse(model, data, J, MJtJ_inv); | |
| 96 | PINOCCHIO_COMPILER_DIAGNOSTIC_POP | ||
| 97 | |||
| 98 | ✗ | return MJtJ_inv; | |
| 99 | } | ||
| 100 | |||
| 101 | 20 | void exposeContactDynamics() | |
| 102 | { | ||
| 103 | using namespace Eigen; | ||
| 104 | |||
| 105 |
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20 | bp::def( |
| 106 | "forwardDynamics", &forwardDynamics_proxy, | ||
| 107 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"), bp::arg("tau"), |
| 108 |
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60 | bp::arg("constraint_jacobian"), bp::arg("constraint_drift"), bp::arg("damping") = 0), |
| 109 | "Solves the constrained dynamics problem with contacts, puts the result in " | ||
| 110 | "context::Data::ddq and return it. The contact forces are stored in data.lambda_c.\n" | ||
| 111 | "Note: internally, pinocchio.computeAllTerms is called."); | ||
| 112 | |||
| 113 |
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20 | bp::def( |
| 114 | "forwardDynamics", &forwardDynamics_proxy_no_q, | ||
| 115 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("tau"), bp::arg("constraint_jacobian"), |
| 116 |
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60 | bp::arg("constraint_drift"), bp::arg("damping") = 0), |
| 117 | "Solves the forward dynamics problem with contacts, puts the result in " | ||
| 118 | "context::Data::ddq and return it. The contact forces are stored in data.lambda_c.\n" | ||
| 119 | "Note: this function assumes that pinocchio.computeAllTerms has been called first."); | ||
| 120 | |||
| 121 |
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20 | bp::def( |
| 122 | "impulseDynamics", &impulseDynamics_proxy, | ||
| 123 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v_before"), |
| 124 |
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80 | bp::arg("constraint_jacobian"), bp::arg("restitution_coefficient") = 0, |
| 125 |
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40 | bp::arg("damping") = 0), |
| 126 | "Solves the impact dynamics problem with contacts, store the result in " | ||
| 127 | "context::Data::dq_after and return it. The contact impulses are stored in " | ||
| 128 | "data.impulse_c.\n" | ||
| 129 | "Note: internally, pinocchio.crba is called."); | ||
| 130 | |||
| 131 |
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20 | bp::def( |
| 132 | "impulseDynamics", &impulseDynamics_proxy_no_q, | ||
| 133 |
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40 | (bp::arg("model"), bp::arg("data"), bp::arg("v_before"), bp::arg("constraint_jacobian"), |
| 134 |
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40 | bp::arg("restitution_coefficient") = 0, bp::arg("damping") = 0), |
| 135 | "Solves the impact dynamics problem with contacts, store the result in " | ||
| 136 | "context::Data::dq_after and return it. The contact impulses are stored in " | ||
| 137 | "data.impulse_c.\n" | ||
| 138 | "Note: this function assumes that pinocchio.crba has been called first."); | ||
| 139 | |||
| 140 |
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20 | bp::def( |
| 141 | "computeKKTContactDynamicMatrixInverse", computeKKTContactDynamicMatrixInverse_proxy, | ||
| 142 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("constraint_jacobian"), |
| 143 |
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40 | bp::arg("damping") = 0), |
| 144 | "Computes the inverse of the constraint matrix [[M J^T], [J 0]]."); | ||
| 145 | |||
| 146 |
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20 | bp::def( |
| 147 | "getKKTContactDynamicMatrixInverse", getKKTContactDynamicMatrixInverse_proxy, | ||
| 148 | 40 | bp::args("model", "data", "constraint_jacobian"), | |
| 149 | "Computes the inverse of the constraint matrix [[M Jt], [J 0]].\n forwardDynamics or " | ||
| 150 | "impulseDynamics must have been called first.\n" | ||
| 151 | "Note: the constraint Jacobian should be the same that was provided to " | ||
| 152 | "forwardDynamics or impulseDynamics."); | ||
| 153 | 20 | } | |
| 154 | |||
| 155 | } // namespace python | ||
| 156 | } // namespace pinocchio | ||
| 157 |