expose-kinodynamics.cpp

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#include "aligator/python/fwd.hpp"
 
#ifdef PROXSUITE_NLP_WITH_PINOCCHIO
#include "aligator/modelling/dynamics/kinodynamics-fwd.hpp"
#include <pinocchio/multibody/fwd.hpp>
#include <proxsuite-nlp/modelling/spaces/multibody.hpp>
#include <pinocchio/multibody/model.hpp>
#include "aligator/python/polymorphic-convertible.hpp"
 
namespace aligator {
namespace python {
void exposeKinodynamics() {
  using namespace aligator::dynamics;
  using context::Scalar;
  using context::StageFunction;
  using context::StageFunctionData;
  using context::UnaryFunction;
  using ODEData = ContinuousDynamicsDataTpl<Scalar>;
  using ODEAbstract = ODEAbstractTpl<Scalar>;
  using ContinuousDynamicsAbstract = ContinuousDynamicsAbstractTpl<Scalar>;
  using KinodynamicsFwdData = KinodynamicsFwdDataTpl<Scalar>;
  using KinodynamicsFwdDynamics = KinodynamicsFwdDynamicsTpl<Scalar>;
  using Manifold = proxsuite::nlp::MultibodyPhaseSpace<Scalar>;
  using Vector3s = typename math_types<Scalar>::Vector3s;
 
  using Model = pinocchio::ModelTpl<Scalar>;
 
  const PolymorphicMultiBaseVisitor<ODEAbstract, ContinuousDynamicsAbstract>
      ode_visitor;
 
  bp::class_<KinodynamicsFwdDynamics, bp::bases<ODEAbstract>>(
      "KinodynamicsFwdDynamics",
      "Centroidal forward dynamics + kinematics using Pinocchio.",
      bp::init<const Manifold &, const Model &, const Vector3s &,
               const std::vector<bool> &,
               const std::vector<pinocchio::FrameIndex> &, const int>(
          "Constructor.",
          bp::args("self", "space", "model", "gravity", "contact_states",
                   "contact_ids", "force_size")))
      .def_readwrite("contact_states",
                     &KinodynamicsFwdDynamics::contact_states_)
      .def(ode_visitor);
 
  bp::register_ptr_to_python<shared_ptr<KinodynamicsFwdData>>();
 
  bp::class_<KinodynamicsFwdData, bp::bases<ODEData>>("KinodynamicsFwdData",
                                                      bp::no_init)
      .def_readwrite("pin_data", &KinodynamicsFwdData::pin_data_);
}
} // namespace python
} // namespace aligator
#endif