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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, University of Edinburgh, 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/numdiff/activation.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 exposeActivationNumDiff() { |
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bp::register_ptr_to_python<boost::shared_ptr<ActivationModelNumDiff> >(); |
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✓✗ |
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bp::class_<ActivationModelNumDiff, bp::bases<ActivationModelAbstract> >( |
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"ActivationModelNumDiff", |
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"Abstract class for computing calcDiff by using numerical " |
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"differentiation.\n\n", |
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✓✗ |
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bp::init<boost::shared_ptr<ActivationModelAbstract> >( |
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bp::args("self", "model"), |
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"Initialize the activation model NumDiff.\n\n" |
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":param model: activation model where we compute the derivatives " |
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"through NumDiff")) |
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✓✗ |
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.def("calc", &ActivationModelNumDiff::calc, bp::args("self", "data", "r"), |
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"Compute the activation value.\n\n" |
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"The activation evolution is described in model.\n" |
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":param data: NumDiff action data\n" |
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✓✗ |
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":param r: residual vector") |
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.def("calcDiff", &ActivationModelNumDiff::calcDiff, |
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✓✗ |
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bp::args("self", "data", "r"), |
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"Compute the derivatives of the residual.\n\n" |
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"It computes the Jacobian and Hessian using numerical " |
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"differentiation.\n" |
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"It assumes that calc has been run first.\n" |
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":param data: NumDiff action data\n" |
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":param r: residual vector\n") |
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.def("createData", &ActivationModelNumDiff::createData, bp::args("self"), |
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"Create the activation data.\n\n" |
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"Each activation model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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✓✗ |
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":return AM data.") |
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.add_property( |
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"model", |
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✓✗ |
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bp::make_function(&ActivationModelNumDiff::get_model, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"action model") |
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.add_property( |
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"disturbance", |
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bp::make_function(&ActivationModelNumDiff::get_disturbance), |
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"disturbance constant used in the numerical differentiation") |
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✓✗ |
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.def(CopyableVisitor<ActivationModelNumDiff>()); |
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bp::register_ptr_to_python<boost::shared_ptr<ActivationDataNumDiff> >(); |
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✓✗ |
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bp::class_<ActivationDataNumDiff, bp::bases<ActivationDataAbstract> >( |
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"ActivationDataNumDiff", "Numerical differentiation activation data.", |
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✓✗ |
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bp::init<ActivationModelNumDiff*>( |
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bp::args("self", "model"), |
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"Create numerical differentiation activation data.\n\n" |
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":param model: numdiff activation model")) |
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.add_property("dr", |
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bp::make_getter(&ActivationDataNumDiff::dr, |
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bp::return_internal_reference<>()), |
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✓✗ |
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"disturbance.") |
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.add_property("rp", |
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bp::make_getter(&ActivationDataNumDiff::rp, |
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bp::return_internal_reference<>()), |
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"input plus the disturbance.") |
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.add_property( |
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"data_0", |
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✓✗ |
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bp::make_getter(&ActivationDataNumDiff::data_0, |
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bp::return_value_policy<bp::return_by_value>()), |
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"data that contains the final results") |
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.add_property( |
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"data_rp", |
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bp::make_getter(&ActivationDataNumDiff::data_rp, |
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bp::return_value_policy<bp::return_by_value>()), |
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"temporary data associated with the input variation") |
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.add_property( |
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"data_r2p", |
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✓✗ |
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bp::make_getter(&ActivationDataNumDiff::data_r2p, |
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bp::return_value_policy<bp::return_by_value>()), |
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✓✗ |
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"temporary data associated with the input variation") |
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✓✗ |
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.def(CopyableVisitor<ActivationDataNumDiff>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |