dynamics.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/python/visitors.hpp"
 
#include "aligator/core/dynamics.hpp"
 
#include "aligator/modelling/dynamics/context.hpp"
#include "aligator/modelling/dynamics/integrator-abstract.hpp"
 
namespace aligator {
namespace python {
template <class Base = context::DynamicsModel>
struct PyDynamics final : Base, PolymorphicWrapper<PyDynamics<Base>, Base> {
  using Scalar = typename Base::Scalar;
  using Data = DynamicsDataTpl<Scalar>;
  using Base::Base;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                const ConstVectorRef &y, Data &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "evaluate", x, u, y, boost::ref(data));
  }
 
  void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &u,
                        const ConstVectorRef &y, Data &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "computeJacobians", x, u, y,
                                  boost::ref(data));
  }
 
  void computeVectorHessianProducts(const ConstVectorRef &x,
                                    const ConstVectorRef &u,
                                    const ConstVectorRef &y,
                                    const ConstVectorRef &lbda,
                                    Data &data) const override {
    ALIGATOR_PYTHON_OVERRIDE(void, Base, computeVectorHessianProducts, x, u, y,
                             lbda, boost::ref(data));
  }
 
  shared_ptr<Data> createData() const override {
    ALIGATOR_PYTHON_OVERRIDE(shared_ptr<Data>, Base, createData, );
  }
 
  shared_ptr<Data> default_createData() const { return Base::createData(); }
};
 
} // namespace python
} // namespace aligator
 
namespace boost::python::objects {
 
template <>
struct value_holder<aligator::python::PyDynamics<>>
    : aligator::python::OwningNonOwningHolder<aligator::python::PyDynamics<>> {
  using OwningNonOwningHolder::OwningNonOwningHolder;
};
 
template <>
struct value_holder<
    aligator::python::PyDynamics<aligator::context::IntegratorAbstract>>
    : aligator::python::OwningNonOwningHolder<
          aligator::python::PyDynamics<aligator::context::IntegratorAbstract>> {
  using OwningNonOwningHolder::OwningNonOwningHolder;
};
 
} // namespace boost::python::objects