| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, LAAS-CNRS, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
// Auto-generated file for float |
| 10 |
|
|
#include "crocoddyl/core/activations/2norm-barrier.hpp" |
| 11 |
|
|
|
| 12 |
|
|
#include "python/crocoddyl/core/activation-base.hpp" |
| 13 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace python { |
| 17 |
|
|
|
| 18 |
|
|
template <typename Model> |
| 19 |
|
|
struct ActivationModel2NormBarrierVisitor |
| 20 |
|
|
: public bp::def_visitor<ActivationModel2NormBarrierVisitor<Model>> { |
| 21 |
|
|
typedef typename Model::Scalar Scalar; |
| 22 |
|
|
template <class PyClass> |
| 23 |
|
✗ |
void visit(PyClass& cl) const { |
| 24 |
|
✗ |
cl.def("calc", &Model::calc, bp::args("self", "data", "r"), |
| 25 |
|
|
"Compute the activation value.\n\n" |
| 26 |
|
|
":param data: activation data\n" |
| 27 |
|
|
":param r: residual vector") |
| 28 |
|
✗ |
.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 29 |
|
|
"Compute the derivatives of the collision function.\n\n" |
| 30 |
|
|
":param data: activation data\n" |
| 31 |
|
|
":param r: residual vector \n") |
| 32 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 33 |
|
|
"Create the collision activation data.\n\n") |
| 34 |
|
✗ |
.add_property( |
| 35 |
|
|
"alpha", |
| 36 |
|
|
bp::make_function(&Model::get_alpha, |
| 37 |
|
✗ |
bp::return_value_policy<bp::return_by_value>()), |
| 38 |
|
|
bp::make_function(&Model::set_alpha), "alpha"); |
| 39 |
|
|
} |
| 40 |
|
|
}; |
| 41 |
|
|
|
| 42 |
|
|
#define CROCODDYL_ACTIVATION_MODEL_2NORM_BARRIER_PYTHON_BINDINGS(Scalar) \ |
| 43 |
|
|
typedef ActivationModel2NormBarrierTpl<Scalar> Model; \ |
| 44 |
|
|
typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ |
| 45 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 46 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 47 |
|
|
"ActivationModel2NormBarrier", \ |
| 48 |
|
|
"An 2-norm activation model for a defined barrier alpha\n\n" \ |
| 49 |
|
|
"If the residual is lower than an alpha threshold, this function " \ |
| 50 |
|
|
"imposes a quadratic term. In short, the activation value is 0 if the " \ |
| 51 |
|
|
"residual is major or equals alpha, otherwise, it is equals to 0.5 " \ |
| 52 |
|
|
"*(||r|| - alpha)^2", \ |
| 53 |
|
|
bp::init<std::size_t, bp::optional<Scalar, bool>>( \ |
| 54 |
|
|
bp::args("self", "nr", "alpha", "true_hessian"), \ |
| 55 |
|
|
"Initialize the activation model.\n\n" \ |
| 56 |
|
|
":param nr: dimension of the cost-residual vector\n" \ |
| 57 |
|
|
":param alpha: activation threshold (default 0.1)\n" \ |
| 58 |
|
|
":param true_hessian: use true Hessian in calcDiff if true, " \ |
| 59 |
|
|
"else Gauss-Newton approximation (default false)")) \ |
| 60 |
|
|
.def(ActivationModel2NormBarrierVisitor<Model>()) \ |
| 61 |
|
|
.def(CastVisitor<Model>()) \ |
| 62 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 63 |
|
|
.def(CopyableVisitor<Model>()); |
| 64 |
|
|
|
| 65 |
|
✗ |
void exposeActivation2NormBarrier() { |
| 66 |
|
✗ |
CROCODDYL_ACTIVATION_MODEL_2NORM_BARRIER_PYTHON_BINDINGS(float) |
| 67 |
|
|
} |
| 68 |
|
|
|
| 69 |
|
|
} // namespace python |
| 70 |
|
|
} // namespace crocoddyl |
| 71 |
|
|
|