expose-dynamics.cpp

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#include "aligator/python/functions.hpp"
#include "aligator/python/visitors.hpp"
#include "aligator/core/dynamics.hpp"
#include <proxsuite-nlp/manifold-base.hpp>
 
namespace aligator {
namespace python {
 
// fwd declaration
void exposeDynamicsBase();
// fwd declaration, see expose-explicit-dynamics.cpp
void exposeExplicitDynamics();
 
void exposeDynamics() {
  exposeDynamicsBase();
  exposeExplicitDynamics();
}
 
using context::DynamicsModel;
using ManifoldPtr = shared_ptr<context::Manifold>;
using context::StageFunction;
 
void exposeDynamicsBase() {
 
  using PyDynamicsModel = internal::PyStageFunction<DynamicsModel>;
 
  StdVectorPythonVisitor<std::vector<shared_ptr<DynamicsModel>>, true>::expose(
      "StdVec_Dynamics");
 
  bp::class_<PyDynamicsModel, bp::bases<StageFunction>, boost::noncopyable>(
      "DynamicsModel",
      "Dynamics models are specific ternary functions f(x,u,x') which map "
      "to the tangent bundle of the next state variable x'.",
      bp::init<ManifoldPtr, int>(bp::args("self", "space", "nu")))
      .def(bp::init<ManifoldPtr, int, ManifoldPtr>(
          bp::args("self", "space", "nu", "space2")))
      .def_readonly("space", &DynamicsModel::space_)
      .def_readonly("space_next", &DynamicsModel::space_next_)
      .add_property("nx1", &DynamicsModel::nx1)
      .add_property("nx2", &DynamicsModel::nx2)
      .add_property("is_explicit", &DynamicsModel::is_explicit,
                    "Return whether the current model is explicit.")
      .def(
          CreateDataPolymorphicPythonVisitor<DynamicsModel, PyDynamicsModel>());
}
 
} // namespace python
} // namespace aligator