1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2021-2023, LAAS-CNRS, Heriot-Watt University |
5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
6 |
|
|
// All rights reserved. |
7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
8 |
|
|
|
9 |
|
|
#include "crocoddyl/core/activations/2norm-barrier.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 exposeActivation2NormBarrier() { |
19 |
✓✗ |
10 |
bp::class_<ActivationModel2NormBarrier, bp::bases<ActivationModelAbstract> >( |
20 |
|
|
"ActivationModel2NormBarrier", |
21 |
|
|
"An 2-norm activation model for a defined barrier alpha\n\n" |
22 |
|
|
"If the residual is lower than an alpha threshold, this function imposes " |
23 |
|
|
"a quadratic term. \n" |
24 |
|
|
"In short, the activation value is 0 if the residual is major or equals " |
25 |
|
|
"to alpha, otherwise, it is \n" |
26 |
|
|
"equals to 0.5 *(||r|| - alpha)^2", |
27 |
✓✗ |
10 |
bp::init<std::size_t, bp::optional<double, bool> >( |
28 |
|
20 |
bp::args("self", "nr", "alpha", "true_hessian"), |
29 |
|
|
"Initialize the activation model.\n\n" |
30 |
|
|
":param nr: dimension of the cost-residual vector\n" |
31 |
|
|
":param alpha: activation threshold (default 0.1)\n" |
32 |
|
|
":param true_hessian: use true Hessian in calcDiff if true, " |
33 |
|
|
"else Gauss-Newton approximation (default false)")) |
34 |
|
|
.def("calc", &ActivationModel2NormBarrier::calc, |
35 |
✓✗ |
20 |
bp::args("self", "data", "r"), |
36 |
|
|
"Compute the activation value.\n\n" |
37 |
|
|
":param data: activation data\n" |
38 |
✓✗ |
10 |
":param r: residual vector") |
39 |
|
|
.def("calcDiff", &ActivationModel2NormBarrier::calcDiff, |
40 |
✓✗ |
20 |
bp::args("self", "data", "r"), |
41 |
|
|
"Compute the derivatives of the collision function.\n\n" |
42 |
|
|
":param data: activation data\n" |
43 |
✓✗ |
10 |
":param r: residual vector \n") |
44 |
|
|
.def("createData", &ActivationModel2NormBarrier::createData, |
45 |
✓✗✓✗
|
20 |
bp::args("self"), "Create the collision activation data.\n\n") |
46 |
|
|
.add_property( |
47 |
|
|
"alpha", |
48 |
✓✗ |
10 |
bp::make_function(&ActivationModel2NormBarrier::get_alpha, |
49 |
|
|
bp::return_value_policy<bp::return_by_value>()), |
50 |
✓✗✓✗
|
30 |
bp::make_function(&ActivationModel2NormBarrier::set_alpha), "alpha") |
51 |
✓✗ |
10 |
.def(CopyableVisitor<ActivationModel2NormBarrier>()); |
52 |
|
10 |
} |
53 |
|
|
|
54 |
|
|
} // namespace python |
55 |
|
|
} // namespace crocoddyl |