GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/numdiff/activation.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 36 36 100.0%
Branches: 26 52 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/numdiff/activation.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 exposeActivationNumDiff() {
19 10 bp::register_ptr_to_python<boost::shared_ptr<ActivationModelNumDiff> >();
20
21
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 10 bp::class_<ActivationModelNumDiff, bp::bases<ActivationModelAbstract> >(
22 "ActivationModelNumDiff",
23 "Abstract class for computing calcDiff by using numerical "
24 "differentiation.\n\n",
25
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 10 bp::init<boost::shared_ptr<ActivationModelAbstract> >(
26 20 bp::args("self", "model"),
27 "Initialize the activation model NumDiff.\n\n"
28 ":param model: activation model where we compute the derivatives "
29 "through NumDiff"))
30
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 20 .def("calc", &ActivationModelNumDiff::calc, bp::args("self", "data", "r"),
31 "Compute the activation value.\n\n"
32 "The activation evolution is described in model.\n"
33 ":param data: NumDiff action data\n"
34 ":param r: residual vector")
35
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 10 .def("calcDiff", &ActivationModelNumDiff::calcDiff,
36
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 20 bp::args("self", "data", "r"),
37 "Compute the derivatives of the residual.\n\n"
38 "It computes the Jacobian and Hessian using numerical "
39 "differentiation.\n"
40 "It assumes that calc has been run first.\n"
41 ":param data: NumDiff action data\n"
42 ":param r: residual vector\n")
43
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 20 .def("createData", &ActivationModelNumDiff::createData, bp::args("self"),
44 "Create the activation data.\n\n"
45 "Each activation model (AM) has its own data that needs to be "
46 "allocated.\n"
47 "This function returns the allocated data for a predefined AM.\n"
48 ":return AM data.")
49
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 10 .add_property(
50 "model",
51
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 10 bp::make_function(&ActivationModelNumDiff::get_model,
52 10 bp::return_value_policy<bp::return_by_value>()),
53 "action model")
54
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 10 .add_property(
55 "disturbance",
56
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 20 bp::make_function(&ActivationModelNumDiff::get_disturbance),
57 "disturbance constant used in the numerical differentiation")
58
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 10 .def(CopyableVisitor<ActivationModelNumDiff>());
59
60 10 bp::register_ptr_to_python<boost::shared_ptr<ActivationDataNumDiff> >();
61
62
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 10 bp::class_<ActivationDataNumDiff, bp::bases<ActivationDataAbstract> >(
63 "ActivationDataNumDiff", "Numerical differentiation activation data.",
64
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 10 bp::init<ActivationModelNumDiff*>(
65 20 bp::args("self", "model"),
66 "Create numerical differentiation activation data.\n\n"
67 ":param model: numdiff activation model"))
68
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 10 .add_property("dr",
69
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 10 bp::make_getter(&ActivationDataNumDiff::dr,
70 10 bp::return_internal_reference<>()),
71 "disturbance.")
72
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 10 .add_property("rp",
73
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 10 bp::make_getter(&ActivationDataNumDiff::rp,
74 10 bp::return_internal_reference<>()),
75 "input plus the disturbance.")
76
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 10 .add_property(
77 "data_0",
78
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 10 bp::make_getter(&ActivationDataNumDiff::data_0,
79 10 bp::return_value_policy<bp::return_by_value>()),
80 "data that contains the final results")
81
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 10 .add_property(
82 "data_rp",
83
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 10 bp::make_getter(&ActivationDataNumDiff::data_rp,
84 10 bp::return_value_policy<bp::return_by_value>()),
85 "temporary data associated with the input variation")
86
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 10 .add_property(
87 "data_r2p",
88
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 10 bp::make_getter(&ActivationDataNumDiff::data_r2p,
89 10 bp::return_value_policy<bp::return_by_value>()),
90 "temporary data associated with the input variation")
91
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 10 .def(CopyableVisitor<ActivationDataNumDiff>());
92 10 }
93
94 } // namespace python
95 } // namespace crocoddyl
96