explicit-dynamics.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/core/explicit-dynamics.hpp"
 
#include "aligator/modelling/dynamics/context.hpp"
#include "aligator/modelling/dynamics/integrator-explicit.hpp"
 
namespace aligator {
namespace python {
using context::DynamicsData;

template <class ExplicitBase = context::ExplicitDynamics>
struct PyExplicitDynamics final
    : ExplicitBase,
      PolymorphicWrapper<PyExplicitDynamics<ExplicitBase>, ExplicitBase> {
  using Scalar = context::Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  // All functions in the interface take this type for output
  using Data = ExplicitDynamicsDataTpl<Scalar>;
 
  using ExplicitBase::ExplicitBase;
 
  void forward(const ConstVectorRef &x, const ConstVectorRef &u,
               Data &data) const {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "forward", x, u, boost::ref(data));
  }
 
  void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                Data &data) const {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "dForward", x, u, boost::ref(data));
  }
 
  shared_ptr<DynamicsData> createData() const {
    ALIGATOR_PYTHON_OVERRIDE(shared_ptr<DynamicsData>, ExplicitBase,
                             createData, );
  }
 
  shared_ptr<DynamicsData> default_createData() const {
    return ExplicitBase::createData();
  }
};
 
} // namespace python
} // namespace aligator
 
namespace boost::python::objects {
 
template <>
struct value_holder<aligator::python::PyExplicitDynamics<>>
    : aligator::python::OwningNonOwningHolder<
          aligator::python::PyExplicitDynamics<>> {
  using OwningNonOwningHolder::OwningNonOwningHolder;
};
 
template <>
struct value_holder<aligator::python::PyExplicitDynamics<
    aligator::context::ExplicitIntegratorAbstract>>
    : aligator::python::OwningNonOwningHolder<
          aligator::python::PyExplicitDynamics<
              aligator::context::ExplicitIntegratorAbstract>> {
  using OwningNonOwningHolder::OwningNonOwningHolder;
};
 
} // namespace boost::python::objects