Directory: | ./ |
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File: | bindings/python/algorithm/expose-contact-dynamics.cpp |
Date: | 2024-08-27 18:20:05 |
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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 |