adam.casadi.casadi_like

adam.casadi.casadi_like#

Classes#

`CasadiLike`	Wrapper class for CasADi SX/DM with ArrayLike ops.
`CasadiLikeFactory`	ArrayLikeFactory for CasADi. Drops batch dims (>2) since CasADi is 2-D only.
`SpatialMath`	CasADi backend for SpatialMath. Keeps the same high-level API.

Module Contents#

class adam.casadi.casadi_like.CasadiLike[source]#

Bases: adam.core.spatial_math.ArrayLike

Wrapper class for CasADi SX/DM with ArrayLike ops.

array: casadi.SX | casadi.DM[source]#

__matmul__(other: CasadiLike) → CasadiLike[source]#

__rmatmul__(other: CasadiLike) → CasadiLike[source]#

__mul__(other: CasadiLike) → CasadiLike[source]#

__rmul__(other: CasadiLike) → CasadiLike[source]#

__truediv__(other: CasadiLike) → CasadiLike[source]#

__add__(other: CasadiLike) → CasadiLike[source]#

__radd__(other: CasadiLike) → CasadiLike[source]#

__sub__(other: CasadiLike) → CasadiLike[source]#

__rsub__(other: CasadiLike) → CasadiLike[source]#

__neg__() → CasadiLike[source]#

__getitem__(idx) → CasadiLike[source]#

property shape: tuple[int, Ellipsis][source]#

property ndim: int[source]#

property T: CasadiLike[source]#

Transpose of the array

Type:: Returns

class adam.casadi.casadi_like.CasadiLikeFactory(xp: casadi.SX | casadi.DM | None = None)[source]#

Bases: adam.core.spatial_math.ArrayLikeFactory

ArrayLikeFactory for CasADi. Drops batch dims (>2) since CasADi is 2-D only.

_xp[source]#

zeros(*x: numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – matrix dimension
Returns:: zero matrix of dimension x
Return type:: npt.ArrayLike

eye(x: numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – matrix dimension
Returns:: identity matrix of dimension x
Return type:: npt.ArrayLike

asarray(x) → CasadiLike[source]#

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.

Parameters:

x – Input to convert. Can be:
list (- Empty) – Returns empty CasadiLike array
objects (- List of CasADi) – Horizontally concatenated
lists/tuples (- List of) – Creates 2D array with vertical and horizontal concatenation
numbers (- Numbers or lists of) – Direct conversion to CasadiLike

Returns:

A CasadiLike object wrapping the converted input.

Return type:

CasadiLike

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

zeros_like(x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – array
Returns:: one array with the same shape as x
Return type:: npt.ArrayLike

ones_like(x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – array
Returns:: one array with the same shape as x
Return type:: npt.ArrayLike

tile(x: CasadiLike, reps: tuple) → CasadiLike[source]#

Parameters:

x (npt.ArrayLike) – input array
reps (tuple) – repetition factors for each dimension

Returns:

tiled array

Return type:

npt.ArrayLike

class adam.casadi.casadi_like.SpatialMath(spec=None)[source]#

Bases: adam.core.spatial_math.SpatialMath

CasADi backend for SpatialMath. Keeps the same high-level API.

static sin(x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: sin value of x
Return type:: npt.ArrayLike

static cos(x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: cos value of angle x
Return type:: npt.ArrayLike

static skew(x: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#

static outer(x: CasadiLike, y: CasadiLike) → CasadiLike[source]#

static vertcat(*x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – elements
Returns:: vertical concatenation of elements x
Return type:: npt.ArrayLike

static horzcat(*x: CasadiLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – elements
Returns:: horizontal concatenation of elements x
Return type:: npt.ArrayLike

static stack(x: Sequence[CasadiLike], axis: int = 0) → CasadiLike[source]#

Parameters:

x (npt.ArrayLike) – elements
axis (int) – axis along which to stack

Returns:

stacked elements x along axis

Return type:

npt.ArrayLike

static concatenate(x: Sequence[CasadiLike], axis: int = 0) → CasadiLike[source]#

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.

Parameters:

x (Sequence[CasadiLike]) – Sequence of CasadiLike objects to concatenate
axis (int, optional) – Axis along which to concatenate. Defaults to 0. - 0 or -2: Vertical concatenation (stack rows) - 1 or -1: Horizontal concatenation (stack columns)

Returns:

The concatenated result

Return type:

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.

static swapaxes(x: CasadiLike, axis1: int, axis2: int) → CasadiLike[source]#

tile(x: CasadiLike, reps: tuple) → CasadiLike[source]#

Parameters:

x (npt.ArrayLike) – input array
reps (tuple) – repetition factors for each dimension

Returns:

tiled array

Return type:

npt.ArrayLike

transpose(x: CasadiLike, dims: tuple) → CasadiLike[source]#

Parameters:

x (npt.ArrayLike) – input array
dims (tuple) – permutation of dimensions

Returns:

transposed array

Return type:

npt.ArrayLike

static expand_dims(x: CasadiLike, axis: int) → CasadiLike[source]#

Expand dimensions of a CasADi array.

Parameters:

x – Input array (CasadiLike)
axis – Position where new axis is to be inserted

Returns:

Array with expanded dimensions

Return type:

CasadiLike

static inv(x: CasadiLike) → CasadiLike[source]#

Matrix inversion for CasADi.

Parameters:: x – Matrix to invert (CasadiLike)
Returns:: Inverse of x
Return type:: CasadiLike

static solve(A: CasadiLike, B: CasadiLike) → CasadiLike[source]#

Solve linear system Ax = B for x using CasADi.

Parameters:

A – Coefficient matrix (CasadiLike)
B – Right-hand side vector or matrix (CasadiLike)

Returns:

Solution x

Return type:

CasadiLike

static mtimes(A: CasadiLike, B: CasadiLike) → CasadiLike[source]#

Matrix-matrix multiplication for CasADi.

Parameters:

A – First matrix (CasadiLike)
B – Second matrix (CasadiLike)

Returns:

Result of A @ B

Return type:

CasadiLike

static mxv(m: CasadiLike, v: CasadiLike) → CasadiLike[source]#

Matrix-vector multiplication for CasADi.

Parameters:

m – Matrix (CasadiLike)
v – Vector (CasadiLike)

Returns:

Returns a column vector (n,1).

Return type:

CasadiLike

static vxs(v: CasadiLike, c: CasadiLike) → CasadiLike[source]#

Vector times scalar multiplication for CasADi.

Parameters:

v – Vector (CasadiLike)
c – Scalar (CasadiLike)

Returns:

Result of vector times scalar

Return type:

CasadiLike