ddp_solver_py.cpp

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//
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#include <exotica_ddp_solver/analytic_ddp_solver.h>
#include <exotica_ddp_solver/control_limited_ddp_solver.h>
#include <exotica_ddp_solver/control_limited_feasibility_driven_ddp_solver.h>
#include <exotica_ddp_solver/feasibility_driven_ddp_solver.h>
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>

using namespace exotica;
namespace py = pybind11;

PYBIND11_MODULE(exotica_ddp_solver_py, module)
{
    module.doc() = "Exotica DDP Solver";

    py::module::import("pyexotica");

    py::class_<AbstractDDPSolver, std::shared_ptr<AbstractDDPSolver>, FeedbackMotionSolver>(module, "AbstractDDPSolver")
        .def_property_readonly("Vxx", &AbstractDDPSolver::get_Vxx)
        .def_property_readonly("Vx", &AbstractDDPSolver::get_Vx)
        .def_property_readonly("Qxx", &AbstractDDPSolver::get_Qxx)
        .def_property_readonly("Qux", &AbstractDDPSolver::get_Qux)
        .def_property_readonly("Quu", &AbstractDDPSolver::get_Quu)
        .def_property_readonly("Qx", &AbstractDDPSolver::get_Qx)
        .def_property_readonly("Qu", &AbstractDDPSolver::get_Qu)
        .def_property_readonly("K", &AbstractDDPSolver::get_K)
        .def_property_readonly("k", &AbstractDDPSolver::get_k)
        .def_property_readonly("X_try", &AbstractDDPSolver::get_X_try)
        .def_property_readonly("U_try", &AbstractDDPSolver::get_U_try)
        .def_property_readonly("X_ref", &AbstractDDPSolver::get_X_ref)
        .def_property_readonly("U_ref", &AbstractDDPSolver::get_U_ref)
        .def_property_readonly("Quu_inv", &AbstractDDPSolver::get_Quu_inv)
        .def_property_readonly("fx", &AbstractDDPSolver::get_fx)
        .def_property_readonly("fu", &AbstractDDPSolver::get_fu)
        .def_property_readonly("control_cost_evolution", &AbstractDDPSolver::get_control_cost_evolution)
        .def_property_readonly("steplength_evolution", &AbstractDDPSolver::get_steplength_evolution)
        .def_property_readonly("regularization_evolution", &AbstractDDPSolver::get_regularization_evolution);

    py::class_<AnalyticDDPSolver, std::shared_ptr<AnalyticDDPSolver>, AbstractDDPSolver> analytic_ddp_solver(module, "AnalyticDDPSolver");

    py::class_<ControlLimitedDDPSolver, std::shared_ptr<ControlLimitedDDPSolver>, AbstractDDPSolver> control_limited_ddp_solver(module, "ControlLimitedDDPSolver");

    py::class_<FeasibilityDrivenDDPSolver, std::shared_ptr<FeasibilityDrivenDDPSolver>, AbstractDDPSolver> feasibility_driven_ddp_solver(module, "FeasibilityDrivenDDPSolver");
    feasibility_driven_ddp_solver.def_property_readonly("fs", &FeasibilityDrivenDDPSolver::get_fs);
    feasibility_driven_ddp_solver.def_property_readonly("xs", &FeasibilityDrivenDDPSolver::get_xs);
    feasibility_driven_ddp_solver.def_property_readonly("us", &FeasibilityDrivenDDPSolver::get_us);

    py::class_<ControlLimitedFeasibilityDrivenDDPSolver, std::shared_ptr<ControlLimitedFeasibilityDrivenDDPSolver>, AbstractDDPSolver> control_limited_feasibility_driven_ddp_solver(module, "ControlLimitedFeasibilityDrivenDDPSolver");
}