bindings/python/algorithm/parallel/aba.cpp

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//
// Copyright (c) 2021 INRIA
//

#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
#include "pinocchio/algorithm/parallel/aba.hpp"

#include <eigenpy/eigen-from-python.hpp>

namespace pinocchio
{
  namespace python
  {
  
    static void aba_proxy_res(const int num_thread, ModelPool & pool,
                               const Eigen::MatrixXd & q, const Eigen::MatrixXd & v, const Eigen::MatrixXd & tau,
                               Eigen::Ref<Eigen::MatrixXd> a)
    {
      aba(num_thread,pool,q,v,tau,a);
    }
  
    static Eigen::MatrixXd aba_proxy(const int num_thread, ModelPool & pool,
                                      const Eigen::MatrixXd & q, const Eigen::MatrixXd & v, const Eigen::MatrixXd & tau)
    {
      Eigen::MatrixXd a(v.rows(),v.cols());
      aba(num_thread,pool,q,v,tau,a);
      return a;
    }
  
    void exposeParallelABA()
    {
      namespace bp = boost::python;
      
      using namespace Eigen;
      
      bp::def("aba",
              aba_proxy,
              bp::args("num_thread","pool","q","v","a"),
              "Computes in parallel the ABA and returns the result.\n\n"
              "Parameters:\n"
              "\tnum_thread: number of threads used for the computation\n"
              "\tpool: pool of model/data\n"
              "\tq: the joint configuration vector (size model.nq x batch_size)\n"
              "\tv: the joint velocity vector (size model.nv x batch_size)\n"
              "\ttau: the joint torque vector (size model.nv x batch_size)\n");
      
      bp::def("aba",
              aba_proxy_res,
              bp::args("num_thread","pool","q","v","a","tau"),
              "Computes in parallel the ABA, store the result in a.\n\n"
              "Parameters:\n"
              "\tnum_thread: number of threads used for the computation\n"
              "\tpool: pool of model/data\n"
              "\tq: the joint configuration vector (size model.nq x batch_size)\n"
              "\tv: the joint velocity vector (size model.nv x batch_size)\n"
              "\ttau: the joint torque vector (size model.nv x batch_size)\n"
              "\ta: the resulting joint acceleration vectors (size model.nv x batch_size)\n");
      
    }
    
  } // namespace python
} // namespace pinocchio