| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/solvers/box-ddp.cpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | 10 | void exposeSolverBoxDDP() { | |
| 19 | 10 | bp::register_ptr_to_python<boost::shared_ptr<SolverBoxDDP> >(); | |
| 20 | |||
| 21 |
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10 | bp::class_<SolverBoxDDP, bp::bases<SolverDDP> >( |
| 22 | "SolverBoxDDP", | ||
| 23 | "Box-constrained DDP solver.\n\n" | ||
| 24 | ":param shootingProblem: shooting problem (list of action models along " | ||
| 25 | "trajectory.)", | ||
| 26 |
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10 | bp::init<boost::shared_ptr<ShootingProblem> >( |
| 27 | 20 | bp::args("self", "problem"), | |
| 28 | "Initialize the vector dimension.\n\n" | ||
| 29 | ":param problem: shooting problem.")) | ||
| 30 |
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10 | .add_property("Quu_inv", |
| 31 |
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10 | make_function(&SolverBoxDDP::get_Quu_inv, |
| 32 | 10 | bp::return_internal_reference<>()), | |
| 33 | "inverse of the Quu computed by the box QP") | ||
| 34 |
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10 | .def(CopyableVisitor<SolverBoxDDP>()); |
| 35 | 10 | } | |
| 36 | |||
| 37 | } // namespace python | ||
| 38 | } // namespace crocoddyl | ||
| 39 |