The Python bindings. More...

Classes
struct	BlkMatrixPythonVisitor

struct	CallbackWrapper

struct	ClonePythonVisitor

struct	ContinousDataWrapper

struct	CopyableVisitor

struct	CostDataWrapper

struct	CreateDataPolymorphicPythonVisitor

struct	CreateDataPythonVisitor

struct	ExplicitDataWrapper

struct	FrameAPIVisitor

struct	FunctionDataWrapper
	Required trampoline class. More...

struct	LinFunctionCompositionVisitor

struct	PolymorphicMultiBaseVisitor

struct	PrintableVisitor

struct	PrintAddressVisitor

struct	PyContinuousDynamics

struct	PyCostFunction
	Wrapper for the CostDataAbstractTpl class and its children. More...

struct	PyDynamics

struct	PyExplicitDynamics

struct	PyODEAbstract

struct	PyStageFunction

struct	PyUnaryFunction

struct	SlicingVisitor

struct	SolverVisitor

Typedefs
using	HistoryCallback = HistoryCallbackTpl<Scalar>

using	PolyFunc = xyz::polymorphic<context::StageFunction>

using	PolySet = xyz::polymorphic<context::ConstraintSet>

using	QuadraticCost = QuadraticCostTpl<Scalar>

using	PolyCost = xyz::polymorphic<CostAbstract>

using	PolyFunction = xyz::polymorphic<StageFunction>

using	StateErrorResidual = StateErrorResidualTpl<Scalar>

using	ControlErrorResidual = ControlErrorResidualTpl<Scalar>

using	QParams = QFunctionTpl<Scalar>

using	VParams = ValueFunctionTpl<Scalar>

using	PolyUnaryFunction = xyz::polymorphic<UnaryFunction>

using	riccati_base_t = RiccatiSolverBase<Scalar>

using	lqr_t = LQRProblemTpl<context::Scalar>

using	knot_t = LQRKnotTpl<context::Scalar>

using	RowMatrixXs = Eigen::Transpose<MatrixXs>::PlainMatrix

using	knot_vec_t = lqr_t::KnotVector

using	prox_riccati_t = ProximalRiccatiSolver<Scalar>

using	stage_factor_t = StageFactor<Scalar>

using	ContactMap = ContactMapTpl<Scalar>

using	PolyManifold = xyz::polymorphic<Manifold>

using	QuadResCost = QuadraticResidualCostTpl<Scalar>

using	DirectSumCost = DirectSumCostTpl<Scalar>

using	DirectSumExplicitDynamics = DirectSumExplicitDynamicsTpl<Scalar>

using	CentroidalFwdDynamics = CentroidalFwdDynamicsTpl<Scalar>

using	ContinuousCentroidalFwdDynamics

using	Vector3s = typename math_types<Scalar>::Vector3s

Functions
template<class C , class MatrixType >
bp::object	make_getter_eigen_matrix (MatrixType C::*v)
	Create a getter for Eigen::Matrix type objects which returns an Eigen::Ref.

template<class C , class MatrixType , class Policies >
bp::object	make_setter_eigen_matrix (MatrixType C::*v, Policies const &policies)

template<class C , class MatrixType >
bp::object	make_setter_eigen_matrix (MatrixType C::*v)

bp::arg	operator""_a (const char *argname, std::size_t)
	User-defined literal for defining boost::python::arg.

void	exposeGAR ()
	Expose GAR module.

void	exposeFunctions ()
	Expose stagewise function classes.

void	exposeCosts ()
	Expose cost functions.

void	exposeConstraint ()
	Expose constraints.

void	exposeStage ()
	Expose StageModel and StageData.

void	exposeProblem ()
	Expose TrajOptProblem.

void	exposeDynamics ()
	Expose discrete dynamics.

void	exposeContinuousDynamics ()
	Expose continuous dynamics.

void	exposeIntegrators ()
	Expose numerical integrators.

void	exposeSolvers ()
	Expose solvers.

void	exposeCallbacks ()
	Expose solver callbacks.

void	exposeAutodiff ()
	Expose autodiff helpers.

void	exposeUtils ()

void	exposeFilter ()

template<typename T >
bool	register_enum_symlink (bool export_values)

void	exposeHistoryCallback ()

context::StageConstraint *	make_constraint_wrap (const PolyFunc &f, const PolySet &c)

void	exposeQuadCost ()

void	exposeComposites ()
	Composite cost functions.

void	exposeContactMap ()
	Centroidal cost functions.

void	exposeCentroidalFunctions ()

void	exposeCostStack ()
	fwd-declare exposeCostStack()

void	exposeCostAbstract ()

void	exposeCostOps ()

void	exposeFunctionBase ()

void	exposeUnaryFunctions ()
	Expose the UnaryFunction type and its member function overloads.

void	exposeFunctionExpressions ()

void	exposeFDDP ()

void	exposeProxDDP ()

void	exposeSolverCommon ()
	Expose base solver elements.

void	exposeStageData ()

void	exposeDenseSolver ()

static void	exposeBlockMatrices ()

void	exposeParallelSolver ()

void	exposeProxRiccati ()

void	exposeGarUtils ()

bp::dict	lqr_sol_initialize_wrap (const lqr_t &problem)

bp::tuple	lqr_create_sparse_wrap (const lqr_t &problem, const Scalar mudyn, const Scalar mueq, bool update)

void	exposeODEs ()

void	exposeExplicitDynDirectSum ()

void	exposeDynamicsBase ()

void	exposeExplicitDynamics ()

void	exposeExplicitBase ()

void	exposeLinearDiscreteDynamics ()

void	exposeExplicitIntegrators ()

template<typename Base >
void	exposeSliceExpression (const char *name)

static void	exposeEnums ()

static void	exposeContainers ()

Variables
PolymorphicVisitor< PolyCost >	poly_visitor

PolymorphicMultiBaseVisitor< StageFunction >	func_visitor

PolymorphicMultiBaseVisitor< DynamicsModel, ExplicitDynamics >	exp_dynamics_visitor

const PolymorphicMultiBaseVisitor< UnaryFunction, StageFunction >	unary_visitor

Detailed Description

The Python bindings.

Copyright: Copyright (C) 2023-2024 LAAS-CNRS, INRIA

Typedef Documentation

◆ HistoryCallback

using aligator::python::HistoryCallback = HistoryCallbackTpl<Scalar>

Definition at line 14 of file expose-callbacks.cpp.

◆ PolyFunc

using aligator::python::PolyFunc = xyz::polymorphic<context::StageFunction>

Definition at line 10 of file expose-constraint.cpp.

◆ PolySet

using aligator::python::PolySet = xyz::polymorphic<context::ConstraintSet>

Definition at line 11 of file expose-constraint.cpp.

◆ QuadraticCost

using aligator::python::QuadraticCost = QuadraticCostTpl<Scalar>

Definition at line 20 of file expose-costs.cpp.

◆ PolyCost

typedef xyz::polymorphic< CostAbstract > aligator::python::PolyCost = xyz::polymorphic<CostAbstract>

Definition at line 21 of file expose-costs.cpp.

◆ PolyFunction

typedef xyz::polymorphic< StageFunction > aligator::python::PolyFunction = xyz::polymorphic<StageFunction>

Definition at line 23 of file expose-functions.cpp.

◆ StateErrorResidual

using aligator::python::StateErrorResidual = StateErrorResidualTpl<Scalar>

Definition at line 24 of file expose-functions.cpp.

◆ ControlErrorResidual

using aligator::python::ControlErrorResidual = ControlErrorResidualTpl<Scalar>

Definition at line 25 of file expose-functions.cpp.

◆ QParams

using aligator::python::QParams = QFunctionTpl<Scalar>

Definition at line 9 of file expose-solver-fddp.cpp.

◆ VParams

using aligator::python::VParams = ValueFunctionTpl<Scalar>

Definition at line 10 of file expose-solver-fddp.cpp.

◆ PolyUnaryFunction

using aligator::python::PolyUnaryFunction = xyz::polymorphic<UnaryFunction>

Definition at line 14 of file expose-unary-functions.cpp.

◆ riccati_base_t

typedef RiccatiSolverBase< Scalar > aligator::python::riccati_base_t = RiccatiSolverBase<Scalar>

Definition at line 10 of file expose-dense.cpp.

◆ lqr_t

typedef LQRProblemTpl< context::Scalar > aligator::python::lqr_t = LQRProblemTpl<context::Scalar>

Definition at line 11 of file expose-dense.cpp.

◆ knot_t

typedef LQRKnotTpl< context::Scalar > aligator::python::knot_t = LQRKnotTpl<context::Scalar>

Definition at line 17 of file expose-gar.cpp.

◆ RowMatrixXs

using aligator::python::RowMatrixXs = Eigen::Transpose<MatrixXs>::PlainMatrix

Definition at line 21 of file expose-gar.cpp.

◆ knot_vec_t

using aligator::python::knot_vec_t = lqr_t::KnotVector

Definition at line 24 of file expose-gar.cpp.

◆ prox_riccati_t

using aligator::python::prox_riccati_t = ProximalRiccatiSolver<Scalar>

Definition at line 8 of file expose-prox-riccati.cpp.

◆ stage_factor_t

using aligator::python::stage_factor_t = StageFactor<Scalar>

Definition at line 9 of file expose-prox-riccati.cpp.

◆ ContactMap

typedef ContactMapTpl< Scalar > aligator::python::ContactMap = ContactMapTpl<Scalar>

Definition at line 23 of file expose-centroidal.cpp.

◆ PolyManifold

typedef xyz::polymorphic< context::Manifold > aligator::python::PolyManifold = xyz::polymorphic<Manifold>

Definition at line 19 of file expose-composite-costs.cpp.

◆ QuadResCost

using aligator::python::QuadResCost = QuadraticResidualCostTpl<Scalar>

Definition at line 20 of file expose-composite-costs.cpp.

◆ DirectSumCost

using aligator::python::DirectSumCost = DirectSumCostTpl<Scalar>

Definition at line 13 of file expose-cost-ops.cpp.

◆ DirectSumExplicitDynamics

using aligator::python::DirectSumExplicitDynamics = DirectSumExplicitDynamicsTpl<Scalar>

Definition at line 13 of file expose-direct-sum.cpp.

◆ CentroidalFwdDynamics

using aligator::python::CentroidalFwdDynamics = CentroidalFwdDynamicsTpl<Scalar>

Definition at line 22 of file expose-ode.cpp.

◆ ContinuousCentroidalFwdDynamics

using aligator::python::ContinuousCentroidalFwdDynamics

Initial value:

ContinuousCentroidalFwdDynamicsTpl<Scalar>

Definition at line 23 of file expose-ode.cpp.

◆ Vector3s

using aligator::python::Vector3s = typename math_types<Scalar>::Vector3s

Definition at line 25 of file expose-ode.cpp.

Function Documentation

◆ make_getter_eigen_matrix()

template<class C , class MatrixType >

bp::object aligator::python::make_getter_eigen_matrix ( MatrixType C::* v )

Create a getter for Eigen::Matrix type objects which returns an Eigen::Ref.

See also: boost/python/data_member.hpp (make_getter(D C::*pm, ...))

Definition at line 45 of file eigen-member.hpp.

◆ make_setter_eigen_matrix() [1/2]

template<class C , class MatrixType , class Policies >

bp::object aligator::python::make_setter_eigen_matrix	(	MatrixType C::*	v,
		Policies const &	policies )

Definition at line 55 of file eigen-member.hpp.

◆ make_setter_eigen_matrix() [2/2]

template<class C , class MatrixType >

bp::object aligator::python::make_setter_eigen_matrix ( MatrixType C::* v )

Definition at line 64 of file eigen-member.hpp.

◆ operator""_a()

bp::arg aligator::python::operator""_a	(	const char *	argname,
		std::size_t	)

inline

User-defined literal for defining boost::python::arg.

Definition at line 18 of file fwd.hpp.

◆ exposeGAR()

void aligator::python::exposeGAR ( )

Expose GAR module.

Definition at line 55 of file expose-gar.cpp.

◆ exposeFunctions()

void aligator::python::exposeFunctions ( )

Expose stagewise function classes.

Definition at line 119 of file expose-functions.cpp.

◆ exposeCosts()

void aligator::python::exposeCosts ( )

Expose cost functions.

Definition at line 138 of file expose-costs.cpp.

◆ exposeConstraint()

void aligator::python::exposeConstraint ( )

Expose constraints.

Definition at line 18 of file expose-constraint.cpp.

◆ exposeStage()

void aligator::python::exposeStage ( )

Expose StageModel and StageData.

Definition at line 20 of file expose-stage.cpp.

◆ exposeProblem()

void aligator::python::exposeProblem ( )

Expose TrajOptProblem.

Definition at line 11 of file expose-problem.cpp.

◆ exposeDynamics()

void aligator::python::exposeDynamics ( )

Expose discrete dynamics.

Definition at line 16 of file expose-dynamics.cpp.

◆ exposeContinuousDynamics()

void aligator::python::exposeContinuousDynamics ( )

Expose continuous dynamics.

Definition at line 26 of file expose-continuous-dynamics.cpp.

◆ exposeIntegrators()

void aligator::python::exposeIntegrators ( )

Expose numerical integrators.

Definition at line 20 of file expose-integrators.cpp.

◆ exposeSolvers()

void aligator::python::exposeSolvers ( )

Expose solvers.

Definition at line 55 of file expose-solvers-base.cpp.

◆ exposeCallbacks()

void aligator::python::exposeCallbacks ( )

Expose solver callbacks.

Definition at line 44 of file expose-callbacks.cpp.

◆ exposeAutodiff()

void aligator::python::exposeAutodiff ( )

Expose autodiff helpers.

Expose finite difference helpers.

Definition at line 10 of file expose-autodiff.cpp.

◆ exposeUtils()

void aligator::python::exposeUtils ( )

Definition at line 7 of file expose-utils.cpp.

◆ exposeFilter()

void aligator::python::exposeFilter ( )

Definition at line 11 of file expose-filter.cpp.

◆ register_enum_symlink()

template<typename T >

bool aligator::python::register_enum_symlink ( bool export_values )

Definition at line 14 of file utils.hpp.

◆ exposeHistoryCallback()

void aligator::python::exposeHistoryCallback ( )

Definition at line 20 of file expose-callbacks.cpp.

◆ make_constraint_wrap()

context::StageConstraint * aligator::python::make_constraint_wrap	(	const PolyFunc &	f,
		const PolySet &	c )

Definition at line 13 of file expose-constraint.cpp.

◆ exposeQuadCost()

void aligator::python::exposeQuadCost ( )

Definition at line 29 of file expose-costs.cpp.

◆ exposeComposites()

void aligator::python::exposeComposites ( )

Composite cost functions.

Definition at line 22 of file expose-composite-costs.cpp.

◆ exposeContactMap()

void aligator::python::exposeContactMap ( )

Centroidal cost functions.

Definition at line 25 of file expose-centroidal.cpp.

◆ exposeCentroidalFunctions()

void aligator::python::exposeCentroidalFunctions ( )

Definition at line 46 of file expose-centroidal.cpp.

◆ exposeCostStack()

void aligator::python::exposeCostStack ( )

fwd-declare exposeCostStack()

Definition at line 25 of file expose-cost-stack.cpp.

◆ exposeCostAbstract()

void aligator::python::exposeCostAbstract ( )

Definition at line 79 of file expose-costs.cpp.

◆ exposeCostOps()

void aligator::python::exposeCostOps ( )

Definition at line 16 of file expose-cost-ops.cpp.

◆ exposeFunctionBase()

void aligator::python::exposeFunctionBase ( )

Definition at line 33 of file expose-functions.cpp.

◆ exposeUnaryFunctions()

void aligator::python::exposeUnaryFunctions ( )

Expose the UnaryFunction type and its member function overloads.

Definition at line 17 of file expose-unary-functions.cpp.

◆ exposeFunctionExpressions()

void aligator::python::exposeFunctionExpressions ( )

FUNCTION LINEAR COMPOSE

Definition at line 70 of file expose-function-ops.cpp.

◆ exposeFDDP()

void aligator::python::exposeFDDP ( )

Definition at line 16 of file expose-solver-fddp.cpp.

◆ exposeProxDDP()

void aligator::python::exposeProxDDP ( )

Definition at line 15 of file expose-solver-prox.cpp.

◆ exposeSolverCommon()

void aligator::python::exposeSolverCommon ( )

Expose base solver elements.

Definition at line 16 of file expose-solvers-base.cpp.

◆ exposeStageData()

void aligator::python::exposeStageData ( )

Definition at line 10 of file expose-stage-data.cpp.

◆ exposeDenseSolver()

void aligator::python::exposeDenseSolver ( )

Definition at line 13 of file expose-dense.cpp.

◆ exposeBlockMatrices()

static void aligator::python::exposeBlockMatrices ( )

static

Definition at line 26 of file expose-gar.cpp.

◆ exposeParallelSolver()

void aligator::python::exposeParallelSolver ( )

Definition at line 16 of file expose-parallel.cpp.

◆ exposeProxRiccati()

void aligator::python::exposeProxRiccati ( )

Definition at line 13 of file expose-prox-riccati.cpp.

◆ exposeGarUtils()

void aligator::python::exposeGarUtils ( )

Definition at line 33 of file expose-utils.cpp.

◆ lqr_sol_initialize_wrap()

bp::dict aligator::python::lqr_sol_initialize_wrap ( const lqr_t & problem )

Definition at line 13 of file expose-utils.cpp.

◆ lqr_create_sparse_wrap()

bp::tuple aligator::python::lqr_create_sparse_wrap	(	const lqr_t &	problem,
		const Scalar	mudyn,
		const Scalar	mueq,
		bool	update )

Definition at line 24 of file expose-utils.cpp.

◆ exposeODEs()

void aligator::python::exposeODEs ( )

Definition at line 28 of file expose-ode.cpp.

◆ exposeExplicitDynDirectSum()

void aligator::python::exposeExplicitDynDirectSum ( )

Definition at line 17 of file expose-direct-sum.cpp.

◆ exposeDynamicsBase()

void aligator::python::exposeDynamicsBase ( )

Definition at line 25 of file expose-dynamics.cpp.

◆ exposeExplicitDynamics()

void aligator::python::exposeExplicitDynamics ( )

Definition at line 28 of file expose-explicit-dynamics.cpp.

◆ exposeExplicitBase()

void aligator::python::exposeExplicitBase ( )

Definition at line 39 of file expose-explicit-dynamics.cpp.

◆ exposeLinearDiscreteDynamics()

void aligator::python::exposeLinearDiscreteDynamics ( )

Definition at line 79 of file expose-explicit-dynamics.cpp.

◆ exposeExplicitIntegrators()

void aligator::python::exposeExplicitIntegrators ( )

Definition at line 24 of file expose-explicit-integrators.cpp.

◆ exposeSliceExpression()

template<typename Base >

void aligator::python::exposeSliceExpression ( const char * name )

Definition at line 22 of file expose-function-ops.cpp.

◆ exposeEnums()

static void aligator::python::exposeEnums ( )

static

Definition at line 18 of file module.cpp.

◆ exposeContainers()

static void aligator::python::exposeContainers ( )

static

Definition at line 52 of file module.cpp.

Variable Documentation

◆ poly_visitor

PolymorphicVisitor<PolyCost> aligator::python::poly_visitor

Definition at line 27 of file expose-costs.cpp.

◆ func_visitor

const PolymorphicMultiBaseVisitor< StageFunction > aligator::python::func_visitor

Definition at line 26 of file expose-functions.cpp.

◆ exp_dynamics_visitor

PolymorphicMultiBaseVisitor<DynamicsModel, ExplicitDynamics> aligator::python::exp_dynamics_visitor

Definition at line 18 of file expose-explicit-dynamics.cpp.

◆ unary_visitor

const PolymorphicMultiBaseVisitor<UnaryFunction, StageFunction> aligator::python::unary_visitor

Definition at line 20 of file expose-function-ops.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ HistoryCallback

◆ PolyFunc

◆ PolySet

◆ QuadraticCost

◆ PolyCost

◆ PolyFunction

◆ StateErrorResidual

◆ ControlErrorResidual

◆ QParams

◆ VParams

◆ PolyUnaryFunction

◆ riccati_base_t

◆ lqr_t

◆ knot_t

◆ RowMatrixXs

◆ knot_vec_t

◆ prox_riccati_t

◆ stage_factor_t

◆ ContactMap

◆ PolyManifold

◆ QuadResCost

◆ DirectSumCost

◆ DirectSumExplicitDynamics

◆ CentroidalFwdDynamics

◆ ContinuousCentroidalFwdDynamics

◆ Vector3s

Function Documentation

◆ make_getter_eigen_matrix()

◆ make_setter_eigen_matrix() [1/2]

◆ make_setter_eigen_matrix() [2/2]

◆ operator""_a()

◆ exposeGAR()

◆ exposeFunctions()

◆ exposeCosts()

◆ exposeConstraint()

◆ exposeStage()

◆ exposeProblem()

◆ exposeDynamics()

◆ exposeContinuousDynamics()

◆ exposeIntegrators()

◆ exposeSolvers()

◆ exposeCallbacks()

◆ exposeAutodiff()

◆ exposeUtils()

◆ exposeFilter()

◆ register_enum_symlink()

◆ exposeHistoryCallback()

◆ make_constraint_wrap()

◆ exposeQuadCost()

◆ exposeComposites()

◆ exposeContactMap()

◆ exposeCentroidalFunctions()

◆ exposeCostStack()

◆ exposeCostAbstract()

◆ exposeCostOps()

◆ exposeFunctionBase()

◆ exposeUnaryFunctions()

◆ exposeFunctionExpressions()

◆ exposeFDDP()

◆ exposeProxDDP()

◆ exposeSolverCommon()

◆ exposeStageData()

◆ exposeDenseSolver()

◆ exposeBlockMatrices()

◆ exposeParallelSolver()

◆ exposeProxRiccati()

◆ exposeGarUtils()

◆ lqr_sol_initialize_wrap()

◆ lqr_create_sparse_wrap()

◆ exposeODEs()

◆ exposeExplicitDynDirectSum()

◆ exposeDynamicsBase()

◆ exposeExplicitDynamics()

◆ exposeExplicitBase()