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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for float |
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#include "python/crocoddyl/core/activation-base.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ActivationModelAbstractVisitor |
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: public bp::def_visitor<ActivationModelAbstractVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "r"), |
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"Compute the activation value.\n\n" |
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":param data: activation data\n" |
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":param r: residual vector") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "r"), |
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"Compute the derivatives of the residual.\n\n" |
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"It computes the partial derivatives of the residual vector " |
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"function.\n" |
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":param data: activation data\n" |
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":param r: residual vector \n") |
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.def("createData", &Model::createData, &Model::default_createData, |
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bp::args("self"), "Create the activation data.\n\n") |
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.add_property("nr", bp::make_function(&Model::get_nr), |
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"dimension of cost-residual vector"); |
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} |
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}; |
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template <typename Data> |
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struct ActivationDataAbstractVisitor |
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: public bp::def_visitor<ActivationDataAbstractVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"a_value", |
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bp::make_getter(&Data::a_value, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&Data::a_value), "cost value") |
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.add_property( |
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"Ar", bp::make_getter(&Data::Ar, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::Ar), "Jacobian of the residual") |
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.add_property("Arr", &Data::getHessianMatrix, &Data::setHessianMatrix, |
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"Hessian of the residual"); |
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} |
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}; |
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#define CROCODDYL_ACTIVATION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ActivationModelAbstractTpl<Scalar> Model; \ |
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typedef ActivationModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"ActivationModelAbstract", \ |
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"Abstract class for activation models.\n\n" \ |
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"In crocoddyl, an activation model takes the residual vector and " \ |
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"computes the activation value and its derivatives from it. Activation " \ |
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"value and its derivatives are computed by calc() and calcDiff(), " \ |
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"respectively.", \ |
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bp::init<std::size_t>( \ |
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bp::args("self", "nr"), \ |
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"Initialize the activation model.\n\n" \ |
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":param nr: dimension of the cost-residual vector")) \ |
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.def(ActivationModelAbstractVisitor<Model_wrap>()) \ |
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.def(PrintableVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_ACTIVATION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef ActivationDataAbstractTpl<Scalar> Data; \ |
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typedef ActivationModelAbstractTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"ActivationDataAbstract", "Abstract class for activation data.\n\n", \ |
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bp::init<Model*>( \ |
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bp::args("self", "model"), \ |
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"Create common data shared between AMs.\n\n" \ |
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"The action data uses the model in order to first process it.\n" \ |
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":param model: action model")) \ |
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.def(ActivationDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeActivationAbstract() { |
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CROCODDYL_ACTIVATION_MODEL_ABSTRACT_PYTHON_BINDINGS(float) |
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CROCODDYL_ACTIVATION_DATA_ABSTRACT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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