11 using ODEData = ODEDataTpl<Scalar>;
12 using ODEAbstract = ODEAbstractTpl<Scalar>;
13 using MultibodyFreeFwdData = MultibodyFreeFwdDataTpl<Scalar>;
14 using MultibodyFreeFwdDynamics = MultibodyFreeFwdDynamicsTpl<Scalar>;
15 using proxsuite::nlp::MultibodyPhaseSpace;
17 using StateManifoldPtr = shared_ptr<MultibodyPhaseSpace<Scalar>>;
19 bp::class_<MultibodyFreeFwdDynamics, bp::bases<ODEAbstract>>(
20 "MultibodyFreeFwdDynamics",
21 "Free-space forward dynamics on multibodies using Pinocchio's ABA "
23 bp::init<StateManifoldPtr, const context::MatrixXs &>(
24 "Constructor where the actuation matrix is provided.",
25 bp::args(
"self",
"space",
"actuation_matrix")))
26 .def(bp::init<StateManifoldPtr>(
27 "Constructor without actuation matrix (assumed to be the (nu,nu) "
29 bp::args(
"self",
"space")))
30 .add_property(
"ntau", &MultibodyFreeFwdDynamics::ntau,
33 "isUnderactuated", &MultibodyFreeFwdDynamics::isUnderactuated,
34 "Whether the system is underactuated, i.e. if the actuation matrix "
35 "rank is lower than the acceleration vector's dimension.")
36 .add_property(
"actuationMatrixRank",
37 &MultibodyFreeFwdDynamics::getActuationMatrixRank,
38 "Get the rank of the actuation matrix.");
40 bp::register_ptr_to_python<shared_ptr<MultibodyFreeFwdData>>();
42 bp::class_<MultibodyFreeFwdData, bp::bases<ODEData>>(
"MultibodyFreeFwdData",
44 .def_readwrite(
"tau", &MultibodyFreeFwdData::tau_)
45 .def_readwrite(
"dtau_dx", &MultibodyFreeFwdData::dtau_dx_)
46 .def_readwrite(
"dtau_du", &MultibodyFreeFwdData::dtau_du_)
47 .def_readwrite(
"pin_data", &MultibodyFreeFwdData::pin_data_);