| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ | ||
| 11 | #define BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/activation-base.hpp" | ||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | class ActivationModelAbstractTpl_wrap | ||
| 21 | : public ActivationModelAbstractTpl<Scalar>, | ||
| 22 | public bp::wrapper<ActivationModelAbstractTpl<Scalar>> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | ✗ | CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelAbstractTpl_wrap) | |
| 26 | |||
| 27 | typedef typename crocoddyl::ActivationModelAbstractTpl<Scalar> | ||
| 28 | ActivationModel; | ||
| 29 | typedef typename crocoddyl::ActivationDataAbstractTpl<Scalar> ActivationData; | ||
| 30 | typedef typename ActivationModel::VectorXs VectorXs; | ||
| 31 | using ActivationModel::nr_; | ||
| 32 | |||
| 33 | ✗ | explicit ActivationModelAbstractTpl_wrap(const std::size_t nr) | |
| 34 | ✗ | : ActivationModel(nr), bp::wrapper<ActivationModel>() {} | |
| 35 | |||
| 36 | ✗ | void calc(const std::shared_ptr<ActivationData>& data, | |
| 37 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 38 | ✗ | if (static_cast<std::size_t>(r.size()) != nr_) { | |
| 39 | ✗ | throw_pretty( | |
| 40 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 41 | std::to_string(nr_) + ")"); | ||
| 42 | } | ||
| 43 | ✗ | return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)r); | |
| 44 | } | ||
| 45 | |||
| 46 | ✗ | void calcDiff(const std::shared_ptr<ActivationData>& data, | |
| 47 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 48 | ✗ | if (static_cast<std::size_t>(r.size()) != nr_) { | |
| 49 | ✗ | throw_pretty( | |
| 50 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 51 | std::to_string(nr_) + ")"); | ||
| 52 | } | ||
| 53 | ✗ | return bp::call<void>(this->get_override("calcDiff").ptr(), data, | |
| 54 | ✗ | (VectorXs)r); | |
| 55 | } | ||
| 56 | |||
| 57 | ✗ | std::shared_ptr<ActivationData> createData() override { | |
| 58 | ✗ | enableMultithreading() = false; | |
| 59 | ✗ | if (boost::python::override createData = this->get_override("createData")) { | |
| 60 | ✗ | return bp::call<std::shared_ptr<ActivationData>>(createData.ptr()); | |
| 61 | } | ||
| 62 | ✗ | return ActivationModel::createData(); | |
| 63 | } | ||
| 64 | |||
| 65 | ✗ | std::shared_ptr<ActivationData> default_createData() { | |
| 66 | ✗ | return this->ActivationModel::createData(); | |
| 67 | } | ||
| 68 | |||
| 69 | template <typename NewScalar> | ||
| 70 | ✗ | ActivationModelAbstractTpl_wrap<NewScalar> cast() const { | |
| 71 | typedef ActivationModelAbstractTpl_wrap<NewScalar> ReturnType; | ||
| 72 | ✗ | ReturnType ret(nr_); | |
| 73 | ✗ | return ret; | |
| 74 | } | ||
| 75 | }; | ||
| 76 | |||
| 77 | } // namespace python | ||
| 78 | } // namespace crocoddyl | ||
| 79 | |||
| 80 | #endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ | ||
| 81 |