| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/solvers/box-ddp.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/core.hpp" | ||
| 13 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 14 | |||
| 15 | #define SCALAR_float64 | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | ✗ | void exposeSolverBoxDDP() { | |
| 21 | #ifdef SCALAR_float64 | ||
| 22 | ✗ | bp::register_ptr_to_python<std::shared_ptr<SolverBoxDDP> >(); | |
| 23 | |||
| 24 | ✗ | bp::class_<SolverBoxDDP, bp::bases<SolverDDP> >( | |
| 25 | "SolverBoxDDP", | ||
| 26 | "Box-constrained DDP solver.\n\n" | ||
| 27 | ":param shootingProblem: shooting problem (list of action models along " | ||
| 28 | "trajectory.)", | ||
| 29 | ✗ | bp::init<std::shared_ptr<ShootingProblem> >( | |
| 30 | ✗ | bp::args("self", "problem"), | |
| 31 | "Initialize the vector dimension.\n\n" | ||
| 32 | ":param problem: shooting problem.")) | ||
| 33 | ✗ | .add_property( | |
| 34 | "Quu_inv", | ||
| 35 | ✗ | make_function( | |
| 36 | &SolverBoxDDP::get_Quu_inv, | ||
| 37 | ✗ | bp::return_value_policy<bp::reference_existing_object>()), | |
| 38 | "inverse of the Quu computed by the box QP") | ||
| 39 | ✗ | .def(CopyableVisitor<SolverBoxDDP>()); | |
| 40 | #endif | ||
| 41 | ✗ | } | |
| 42 | |||
| 43 | } // namespace python | ||
| 44 | } // namespace crocoddyl | ||
| 45 |