| 6 | namespace aligator { |
| 7 | namespace python { |
| 8 | void exposeUtils() { |
| 9 | using DynamicsType = DynamicsModelTpl<context::Scalar>; |
| 10 | using ExplicitDynamics = ExplicitDynamicsModelTpl<context::Scalar>; |
| 11 | |
| 12 | using rollout_generic_t = context::VectorOfVectors (*)( |
| 13 | const DynamicsType &, const context::ConstVectorRef &, |
| 14 | const context::VectorOfVectors &); |
| 15 | |
| 16 | using rollout_vec_generic_t = context::VectorOfVectors (*)( |
| 17 | const std::vector<xyz::polymorphic<DynamicsType>> &, |
| 18 | const context::ConstVectorRef &, const context::VectorOfVectors &); |
| 19 | |
| 20 | using rollout_explicit_t = context::VectorOfVectors (*)( |
| 21 | const ExplicitDynamics &, const context::ConstVectorRef &, |
| 22 | const context::VectorOfVectors &); |
| 23 | |
| 24 | using rollout_vec_explicit_t = context::VectorOfVectors (*)( |
| 25 | const std::vector<xyz::polymorphic<ExplicitDynamics>> &, |
| 26 | const context::ConstVectorRef &, const context::VectorOfVectors &); |
| 27 | |
| 28 | bp::def<rollout_generic_t>( |
| 29 | "rollout_implicit", &aligator::rollout, ("dyn_model"_a, "x0", "us"), |
| 30 | "Perform a dynamics rollout, for a dynamics model."); |
| 31 | |
| 32 | bp::def<rollout_explicit_t>( |
| 33 | "rollout", &aligator::rollout, ("dyn_model"_a, "x0", "us"), |
| 34 | "Perform a rollout of a single explicit dynamics model."); |
| 35 | |
| 36 | bp::def<rollout_vec_generic_t>( |
| 37 | "rollout_implicit", &aligator::rollout, ("dyn_models"_a, "x0", "us"), |
| 38 | "Perform a dynamics rollout, for multiple discrete dynamics models."); |
| 39 | |
| 40 | bp::def<rollout_vec_explicit_t>( |
| 41 | "rollout", &aligator::rollout, ("dyn_models"_a, "x0", "us"), |
| 42 | "Perform a rollout of multiple different dynamics models."); |
| 43 | } |
| 44 | |
| 45 | } // namespace python |
| 46 | } // namespace aligator |
no outgoing calls
no test coverage detected