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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh |
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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 "crocoddyl/core/utils/exception.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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class ActivationModelAbstract_wrap |
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: public ActivationModelAbstract, |
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public bp::wrapper<ActivationModelAbstract> { |
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public: |
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explicit ActivationModelAbstract_wrap(const std::size_t nr) |
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: ActivationModelAbstract(nr), bp::wrapper<ActivationModelAbstract>() {} |
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void calc(const boost::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& r) { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty("Invalid argument: " |
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<< "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, |
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(Eigen::VectorXd)r); |
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} |
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void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const Eigen::VectorXd>& r) { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty("Invalid argument: " |
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<< "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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(Eigen::VectorXd)r); |
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} |
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boost::shared_ptr<ActivationDataAbstract> createData() { |
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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<boost::shared_ptr<ActivationDataAbstract> >( |
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createData.ptr()); |
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} |
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return ActivationModelAbstract::createData(); |
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} |
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boost::shared_ptr<ActivationDataAbstract> default_createData() { |
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return this->ActivationModelAbstract::createData(); |
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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_ |