GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/activation-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 26 28 92.9%
Branches: 23 46 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "python/crocoddyl/core/activation-base.hpp"
11
12 #include "python/crocoddyl/utils/copyable.hpp"
13 #include "python/crocoddyl/utils/printable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeActivationAbstract() {
19 10 bp::register_ptr_to_python<boost::shared_ptr<ActivationModelAbstract> >();
20
21
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 10 bp::class_<ActivationModelAbstract_wrap, boost::noncopyable>(
22 "ActivationModelAbstract",
23 "Abstract class for activation models.\n\n"
24 "In crocoddyl, an activation model takes the residual vector and "
25 "computes the activation\n"
26 "value and its derivatives from it. Activation value and its derivatives "
27 "are computed by\n"
28 "calc() and calcDiff(), respectively.",
29
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 20 bp::init<std::size_t>(bp::args("self", "nr"),
30 "Initialize the activation model.\n\n"
31 ":param nr: dimension of the cost-residual vector"))
32
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 10 .def("calc", pure_virtual(&ActivationModelAbstract_wrap::calc),
33
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 20 bp::args("self", "data", "r"),
34 "Compute the activation value.\n\n"
35 ":param data: activation data\n"
36 ":param r: residual vector")
37
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 10 .def("calcDiff", pure_virtual(&ActivationModelAbstract_wrap::calcDiff),
38
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 20 bp::args("self", "data", "r"),
39 "Compute the derivatives of the residual.\n\n"
40 "It computes the partial derivatives of the residual vector "
41 "function\n"
42 ":param data: activation data\n"
43 ":param r: residual vector \n")
44 20 .def("createData", &ActivationModelAbstract_wrap::createData,
45
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 20 &ActivationModelAbstract_wrap::default_createData, bp::args("self"),
46 "Create the activation data.\n\n")
47
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 10 .add_property("nr",
48
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 20 bp::make_function(&ActivationModelAbstract_wrap::get_nr),
49 "dimension of cost-residual vector")
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 10 .def(PrintableVisitor<ActivationModelAbstract>());
51
52 10 bp::register_ptr_to_python<boost::shared_ptr<ActivationDataAbstract> >();
53
54
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 10 bp::class_<ActivationDataAbstract>(
55 "ActivationDataAbstract", "Abstract class for activation data.\n\n",
56
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 10 bp::init<ActivationModelAbstract*>(
57 20 bp::args("self", "model"),
58 "Create common data shared between AMs.\n\n"
59 "The action data uses the model in order to first process it.\n"
60 ":param model: action model"))
61
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 10 .add_property(
62 "a_value",
63
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 10 bp::make_getter(&ActivationDataAbstract::a_value,
64 ✗ bp::return_value_policy<bp::return_by_value>()),
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 20 bp::make_setter(&ActivationDataAbstract::a_value), "cost value")
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 10 .add_property("Ar",
67
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 10 bp::make_getter(&ActivationDataAbstract::Ar,
68 ✗ bp::return_internal_reference<>()),
69
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 20 bp::make_setter(&ActivationDataAbstract::Ar),
70 "Jacobian of the residual")
71
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 10 .add_property("Arr", &ActivationDataAbstract::getHessianMatrix,
72 &ActivationDataAbstract::setHessianMatrix,
73 "Hessian of the residual")
74
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 10 .def(CopyableVisitor<ActivationDataAbstract>());
75 10 }
76
77 } // namespace python
78 } // namespace crocoddyl
79