aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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expose-fly-high.cpp
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#ifdef ALIGATOR_WITH_PINOCCHIO
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#include "
aligator/python/fwd.hpp
"
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#include "
aligator/python/modelling/multibody-utils.hpp
"
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#include "
aligator/modelling/multibody/fly-high.hpp
"
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namespace
aligator
{
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namespace
python {
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using
context::MultibodyPhaseSpace
;
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using
context::Scalar
;
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using
context::StageFunctionData
;
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using
context::UnaryFunction
;
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void
exposeFlyHigh() {
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using
FlyHighResidual = FlyHighResidualTpl<Scalar>;
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bp::class_<FlyHighResidual, bp::bases<UnaryFunction>>(
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"FlyHighResidual"
,
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"A residual function :math:`r(x) = v_{j,xy} e^{-s z_j}` where :math:`j` "
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"is a given frame index."
,
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bp::no_init)
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.def(bp::init<shared_ptr<MultibodyPhaseSpace>, pinocchio::FrameIndex,
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Scalar, std::size_t>(
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bp::args(
"self"
,
"space"
,
"frame_id"
,
"slope"
,
"nu"
)))
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.def(FrameAPIVisitor<FlyHighResidual>())
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.def_readwrite(
"slope"
, &FlyHighResidual::slope_,
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"The slope parameter of the function."
);
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bp::class_<FlyHighResidual::Data, bp::bases<StageFunctionData>>(
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"FlyHighResidualData"
, bp::no_init)
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.def_readonly(
"ez"
, &FlyHighResidual::Data::ez)
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.def_readonly(
"pin_data"
, &FlyHighResidual::Data::pdata_);
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}
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}
// namespace python
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}
// namespace aligator
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#endif
fwd.hpp
fly-high.hpp
multibody-utils.hpp
aligator::context::MultibodyPhaseSpace
proxsuite::nlp::MultibodyPhaseSpace< Scalar > MultibodyPhaseSpace
Definition
context.hpp:16
aligator::context::Scalar
double Scalar
Definition
context.hpp:9
aligator::context::UnaryFunction
UnaryFunctionTpl< Scalar > UnaryFunction
Definition
context.hpp:18
aligator::context::StageFunctionData
StageFunctionDataTpl< Scalar > StageFunctionData
Definition
context.hpp:19
aligator
Main package namespace.
Definition
action-model-wrap.hpp:12
bindings
python
src
modelling
expose-fly-high.cpp
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