| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/activations/2norm-barrier.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 15 | 16 | 93.8% |
| Branches: | 12 | 24 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, 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 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | 10 | void exposeActivation2NormBarrier() { | |
| 19 |
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10 | bp::class_<ActivationModel2NormBarrier, bp::bases<ActivationModelAbstract> >( |
| 20 | "ActivationModel2NormBarrier", | ||
| 21 | "An 2-norm activation model for a defined barrier alpha\n\n" | ||
| 22 | "If the residual is lower than an alpha threshold, this function imposes " | ||
| 23 | "a quadratic term. \n" | ||
| 24 | "In short, the activation value is 0 if the residual is major or equals " | ||
| 25 | "to alpha, otherwise, it is \n" | ||
| 26 | "equals to 0.5 *(||r|| - alpha)^2", | ||
| 27 |
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10 | bp::init<std::size_t, bp::optional<double, bool> >( |
| 28 | 20 | bp::args("self", "nr", "alpha", "true_hessian"), | |
| 29 | "Initialize the activation model.\n\n" | ||
| 30 | ":param nr: dimension of the cost-residual vector\n" | ||
| 31 | ":param alpha: activation threshold (default 0.1)\n" | ||
| 32 | ":param true_hessian: use true Hessian in calcDiff if true, " | ||
| 33 | "else Gauss-Newton approximation (default false)")) | ||
| 34 |
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10 | .def("calc", &ActivationModel2NormBarrier::calc, |
| 35 |
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20 | bp::args("self", "data", "r"), |
| 36 | "Compute the activation value.\n\n" | ||
| 37 | ":param data: activation data\n" | ||
| 38 | ":param r: residual vector") | ||
| 39 |
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10 | .def("calcDiff", &ActivationModel2NormBarrier::calcDiff, |
| 40 |
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20 | bp::args("self", "data", "r"), |
| 41 | "Compute the derivatives of the collision function.\n\n" | ||
| 42 | ":param data: activation data\n" | ||
| 43 | ":param r: residual vector \n") | ||
| 44 |
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10 | .def("createData", &ActivationModel2NormBarrier::createData, |
| 45 |
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20 | bp::args("self"), "Create the collision activation data.\n\n") |
| 46 |
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10 | .add_property( |
| 47 | "alpha", | ||
| 48 |
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10 | bp::make_function(&ActivationModel2NormBarrier::get_alpha, |
| 49 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 50 |
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20 | bp::make_function(&ActivationModel2NormBarrier::set_alpha), "alpha") |
| 51 |
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10 | .def(CopyableVisitor<ActivationModel2NormBarrier>()); |
| 52 | 10 | } | |
| 53 | |||
| 54 | } // namespace python | ||
| 55 | } // namespace crocoddyl | ||
| 56 |