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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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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |
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#include "crocoddyl/core/activation-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Scalar> |
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class ActivationModelAbstractTpl_wrap |
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: public ActivationModelAbstractTpl<Scalar>, |
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public bp::wrapper<ActivationModelAbstractTpl<Scalar>> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelAbstractTpl_wrap) |
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typedef typename crocoddyl::ActivationModelAbstractTpl<Scalar> |
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ActivationModel; |
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typedef typename crocoddyl::ActivationDataAbstractTpl<Scalar> ActivationData; |
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typedef typename ActivationModel::VectorXs VectorXs; |
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using ActivationModel::nr_; |
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explicit ActivationModelAbstractTpl_wrap(const std::size_t nr) |
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: ActivationModel(nr), bp::wrapper<ActivationModel>() {} |
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void calc(const std::shared_ptr<ActivationData>& data, |
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const Eigen::Ref<const VectorXs>& r) override { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(nr_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)r); |
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} |
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void calcDiff(const std::shared_ptr<ActivationData>& data, |
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const Eigen::Ref<const VectorXs>& r) override { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(nr_) + ")"); |
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} |
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return bp::call<void>(this->get_override("calcDiff").ptr(), data, |
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(VectorXs)r); |
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} |
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std::shared_ptr<ActivationData> createData() override { |
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enableMultithreading() = false; |
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if (boost::python::override createData = this->get_override("createData")) { |
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return bp::call<std::shared_ptr<ActivationData>>(createData.ptr()); |
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} |
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return ActivationModel::createData(); |
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} |
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std::shared_ptr<ActivationData> default_createData() { |
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return this->ActivationModel::createData(); |
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} |
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template <typename NewScalar> |
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ActivationModelAbstractTpl_wrap<NewScalar> cast() const { |
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typedef ActivationModelAbstractTpl_wrap<NewScalar> ReturnType; |
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ReturnType ret(nr_); |
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return ret; |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |
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