| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/2norm-barrier.cpp |
| Date: | 2025-03-26 19:23:43 |
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| 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 | #include "crocoddyl/core/activations/2norm-barrier.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/activation-base.hpp" | ||
| 12 | #include "python/crocoddyl/core/core.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct ActivationModel2NormBarrierVisitor | ||
| 19 | : public bp::def_visitor<ActivationModel2NormBarrierVisitor<Model>> { | ||
| 20 | typedef typename Model::Scalar Scalar; | ||
| 21 | template <class PyClass> | ||
| 22 | 40 | void visit(PyClass& cl) const { | |
| 23 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "r"), | |
| 24 | "Compute the activation value.\n\n" | ||
| 25 | ":param data: activation data\n" | ||
| 26 | ":param r: residual vector") | ||
| 27 |
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80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 28 | "Compute the derivatives of the collision function.\n\n" | ||
| 29 | ":param data: activation data\n" | ||
| 30 | ":param r: residual vector \n") | ||
| 31 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 32 | "Create the collision activation data.\n\n") | ||
| 33 |
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80 | .add_property( |
| 34 | "alpha", | ||
| 35 | bp::make_function(&Model::get_alpha, | ||
| 36 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 37 | bp::make_function(&Model::set_alpha), "alpha"); | ||
| 38 | 40 | } | |
| 39 | }; | ||
| 40 | |||
| 41 | #define CROCODDYL_ACTIVATION_MODEL_2NORM_BARRIER_PYTHON_BINDINGS(Scalar) \ | ||
| 42 | typedef ActivationModel2NormBarrierTpl<Scalar> Model; \ | ||
| 43 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 44 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 45 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 46 | "ActivationModel2NormBarrier", \ | ||
| 47 | "An 2-norm activation model for a defined barrier alpha\n\n" \ | ||
| 48 | "If the residual is lower than an alpha threshold, this function " \ | ||
| 49 | "imposes a quadratic term. In short, the activation value is 0 if the " \ | ||
| 50 | "residual is major or equals alpha, otherwise, it is equals to 0.5 " \ | ||
| 51 | "*(||r|| - alpha)^2", \ | ||
| 52 | bp::init<std::size_t, bp::optional<Scalar, bool>>( \ | ||
| 53 | bp::args("self", "nr", "alpha", "true_hessian"), \ | ||
| 54 | "Initialize the activation model.\n\n" \ | ||
| 55 | ":param nr: dimension of the cost-residual vector\n" \ | ||
| 56 | ":param alpha: activation threshold (default 0.1)\n" \ | ||
| 57 | ":param true_hessian: use true Hessian in calcDiff if true, " \ | ||
| 58 | "else Gauss-Newton approximation (default false)")) \ | ||
| 59 | .def(ActivationModel2NormBarrierVisitor<Model>()) \ | ||
| 60 | .def(CastVisitor<Model>()) \ | ||
| 61 | .def(PrintableVisitor<Model>()) \ | ||
| 62 | .def(CopyableVisitor<Model>()); | ||
| 63 | |||
| 64 | 10 | void exposeActivation2NormBarrier() { | |
| 65 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 66 | CROCODDYL_ACTIVATION_MODEL_2NORM_BARRIER_PYTHON_BINDINGS) | ||
| 67 | 10 | } | |
| 68 | |||
| 69 | } // namespace python | ||
| 70 | } // namespace crocoddyl | ||
| 71 |