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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, 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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#include "crocoddyl/core/activations/quadratic.hpp" |
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#include "python/crocoddyl/core/activation-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeActivationQuad() { |
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boost::python::register_ptr_to_python< |
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boost::shared_ptr<ActivationModelQuad> >(); |
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✓✗ |
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bp::class_<ActivationModelQuad, bp::bases<ActivationModelAbstract> >( |
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"ActivationModelQuad", |
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"Quadratic activation model.\n\n" |
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"A quadratic action describes a quadratic function that depends on the " |
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"residual, i.e.\n" |
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"0.5 *||r||^2.", |
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✓✗ |
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bp::init<int>(bp::args("self", "nr"), |
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"Initialize the activation model.\n\n" |
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":param nr: dimension of the cost-residual vector")) |
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✓✗ |
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.def("calc", &ActivationModelQuad::calc, bp::args("self", "data", "r"), |
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"Compute the 0.5 * ||r||^2.\n\n" |
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":param data: activation data\n" |
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✓✗ |
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":param r: residual vector") |
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.def("calcDiff", &ActivationModelQuad::calcDiff, |
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✓✗ |
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bp::args("self", "data", "r"), |
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"Compute the derivatives of a quadratic function.\n\n" |
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"Note that the Hessian is constant, so we don't write again this " |
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"value.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: activation data\n" |
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✓✗ |
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":param r: residual vector \n") |
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✓✗ |
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.def("createData", &ActivationModelQuad::createData, bp::args("self"), |
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✓✗ |
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"Create the quadratic activation data.\n\n") |
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✓✗ |
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.def(CopyableVisitor<ActivationModelQuad>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |