adam.casadi.casadi_like ======================= .. py:module:: adam.casadi.casadi_like Classes ------- .. autoapisummary:: adam.casadi.casadi_like.CasadiLike adam.casadi.casadi_like.CasadiLikeFactory adam.casadi.casadi_like.SpatialMath Module Contents --------------- .. py:class:: CasadiLike Bases: :py:obj:`adam.core.spatial_math.ArrayLike` Wrapper class for CasADi SX/DM with ArrayLike ops. .. py:attribute:: array :type: Union[casadi.SX, casadi.DM] .. py:method:: __matmul__(other: CasadiLike) -> CasadiLike .. py:method:: __rmatmul__(other: CasadiLike) -> CasadiLike .. py:method:: __mul__(other: CasadiLike) -> CasadiLike .. py:method:: __rmul__(other: CasadiLike) -> CasadiLike .. py:method:: __truediv__(other: CasadiLike) -> CasadiLike .. py:method:: __add__(other: CasadiLike) -> CasadiLike .. py:method:: __radd__(other: CasadiLike) -> CasadiLike .. py:method:: __sub__(other: CasadiLike) -> CasadiLike .. py:method:: __rsub__(other: CasadiLike) -> CasadiLike .. py:method:: __neg__() -> CasadiLike .. py:method:: __getitem__(idx) -> CasadiLike .. py:property:: shape :type: tuple[int, Ellipsis] .. py:property:: ndim :type: int .. py:property:: T :type: CasadiLike Transpose of the array :type: Returns .. py:class:: CasadiLikeFactory(xp: Union[casadi.SX, casadi.DM, None] = None) Bases: :py:obj:`adam.core.spatial_math.ArrayLikeFactory` ArrayLikeFactory for CasADi. Drops batch dims (>2) since CasADi is 2-D only. .. py:attribute:: _xp .. py:method:: zeros(*x: numpy.typing.ArrayLike) -> CasadiLike :param x: matrix dimension :type x: npt.ArrayLike :returns: zero matrix of dimension x :rtype: npt.ArrayLike .. py:method:: eye(x: numpy.typing.ArrayLike) -> CasadiLike :param x: matrix dimension :type x: npt.ArrayLike :returns: identity matrix of dimension x :rtype: npt.ArrayLike .. py:method:: asarray(x) -> CasadiLike Convert input to a CasadiLike array. This method handles various input types and converts them to CasadiLike objects using appropriate CasADi operations for concatenation and array construction. :param x: Input to convert. Can be: :param - Empty list: Returns empty CasadiLike array :param - List of CasADi objects: Horizontally concatenated :type - List of CasADi objects: cs.SX, cs.DM :param - List of lists/tuples: Creates 2D array with vertical and horizontal concatenation :param - Numbers or lists of numbers: Direct conversion to CasadiLike :returns: A CasadiLike object wrapping the converted input. :rtype: CasadiLike .. rubric:: Examples - Empty list [] -> CasadiLike with empty array - [sx1, sx2] -> CasadiLike with horizontally concatenated SX objects - [[1, 2], [3, 4]] -> CasadiLike with 2x2 matrix - 5 or [1, 2, 3] -> CasadiLike with direct conversion .. py:method:: zeros_like(x: CasadiLike) -> CasadiLike :param x: array :type x: npt.ArrayLike :returns: one array with the same shape as x :rtype: npt.ArrayLike .. py:method:: ones_like(x: CasadiLike) -> CasadiLike :param x: array :type x: npt.ArrayLike :returns: one array with the same shape as x :rtype: npt.ArrayLike .. py:method:: tile(x: CasadiLike, reps: tuple) -> CasadiLike :param x: input array :type x: npt.ArrayLike :param reps: repetition factors for each dimension :type reps: tuple :returns: tiled array :rtype: npt.ArrayLike .. py:class:: SpatialMath(spec=None) Bases: :py:obj:`adam.core.spatial_math.SpatialMath` CasADi backend for SpatialMath. Keeps the same high-level API. .. py:method:: sin(x: CasadiLike) -> CasadiLike :staticmethod: :param x: angle value :type x: npt.ArrayLike :returns: sin value of x :rtype: npt.ArrayLike .. py:method:: cos(x: CasadiLike) -> CasadiLike :staticmethod: :param x: angle value :type x: npt.ArrayLike :returns: cos value of angle x :rtype: npt.ArrayLike .. py:method:: skew(x: Union[CasadiLike, numpy.typing.ArrayLike]) -> CasadiLike :staticmethod: .. py:method:: outer(x: CasadiLike, y: CasadiLike) -> CasadiLike :staticmethod: .. py:method:: vertcat(*x: CasadiLike) -> CasadiLike :staticmethod: :param x: elements :type x: npt.ArrayLike :returns: vertical concatenation of elements x :rtype: npt.ArrayLike .. py:method:: horzcat(*x: CasadiLike) -> CasadiLike :staticmethod: :param x: elements :type x: npt.ArrayLike :returns: horizontal concatenation of elements x :rtype: npt.ArrayLike .. py:method:: stack(x: Sequence[CasadiLike], axis: int = 0) -> CasadiLike :staticmethod: :param x: elements :type x: npt.ArrayLike :param axis: axis along which to stack :type axis: int :returns: stacked elements x along axis :rtype: npt.ArrayLike .. py:method:: concatenate(x: Sequence[CasadiLike], axis: int = 0) -> CasadiLike :staticmethod: Concatenate a sequence of CasadiLike objects along a specified axis. This function provides flexible concatenation behavior with special handling for common use cases in CasADi operations. :param x: Sequence of CasadiLike objects to concatenate :type x: Sequence[CasadiLike] :param axis: Axis along which to concatenate. Defaults to 0. - 0 or -2: Vertical concatenation (stack rows) - 1 or -1: Horizontal concatenation (stack columns) :type axis: int, optional :returns: The concatenated result :rtype: CasadiLike :raises NotImplementedError: If axis is not in {-2, -1, 0, 1} Special Cases: - When axis=-1 and exactly 2 column vectors are provided, they are vertically stacked to create a longer column vector - For horizontal concatenation (axis=1 or -1), if arrays don't have matching row dimensions, the function attempts to reshape them: * 1D arrays are reshaped to column vectors * Row vectors (1xn) are transposed to column vectors * Other shapes are kept as-is and stacked vertically .. note:: The function uses CasADi's vertcat and horzcat functions internally for the actual concatenation operations. .. py:method:: swapaxes(x: CasadiLike, axis1: int, axis2: int) -> CasadiLike :staticmethod: .. py:method:: tile(x: CasadiLike, reps: tuple) -> CasadiLike :param x: input array :type x: npt.ArrayLike :param reps: repetition factors for each dimension :type reps: tuple :returns: tiled array :rtype: npt.ArrayLike .. py:method:: transpose(x: CasadiLike, dims: tuple) -> CasadiLike :param x: input array :type x: npt.ArrayLike :param dims: permutation of dimensions :type dims: tuple :returns: transposed array :rtype: npt.ArrayLike .. py:method:: expand_dims(x: CasadiLike, axis: int) -> CasadiLike :staticmethod: Expand dimensions of a CasADi array. :param x: Input array (CasadiLike) :param axis: Position where new axis is to be inserted :returns: Array with expanded dimensions :rtype: CasadiLike .. py:method:: inv(x: CasadiLike) -> CasadiLike :staticmethod: Matrix inversion for CasADi. :param x: Matrix to invert (CasadiLike) :returns: Inverse of x :rtype: CasadiLike .. py:method:: solve(A: CasadiLike, B: CasadiLike) -> CasadiLike :staticmethod: Solve linear system Ax = B for x using CasADi. :param A: Coefficient matrix (CasadiLike) :param B: Right-hand side vector or matrix (CasadiLike) :returns: Solution x :rtype: CasadiLike .. py:method:: mtimes(A: CasadiLike, B: CasadiLike) -> CasadiLike :staticmethod: Matrix-matrix multiplication for CasADi. :param A: First matrix (CasadiLike) :param B: Second matrix (CasadiLike) :returns: Result of A @ B :rtype: CasadiLike .. py:method:: mxv(m: CasadiLike, v: CasadiLike) -> CasadiLike :staticmethod: Matrix-vector multiplication for CasADi. :param m: Matrix (CasadiLike) :param v: Vector (CasadiLike) :returns: Returns a *column* vector (n,1). :rtype: CasadiLike .. py:method:: vxs(v: CasadiLike, c: CasadiLike) -> CasadiLike :staticmethod: Vector times scalar multiplication for CasADi. :param v: Vector (CasadiLike) :param c: Scalar (CasadiLike) :returns: Result of vector times scalar :rtype: CasadiLike