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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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/solvers/box-fddp.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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#define SCALAR_float64 |
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namespace crocoddyl { |
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namespace python { |
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void exposeSolverBoxFDDP() { |
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#ifdef SCALAR_float64 |
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bp::register_ptr_to_python<std::shared_ptr<SolverBoxFDDP> >(); |
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bp::class_<SolverBoxFDDP, bp::bases<SolverFDDP> >( |
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"SolverBoxFDDP", |
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"Box-constrained FDDP solver.\n\n" |
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":param shootingProblem: shooting problem (list of action models along " |
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"trajectory.)", |
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bp::init<std::shared_ptr<ShootingProblem> >( |
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bp::args("self", "problem"), |
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"Initialize the vector dimension.\n\n" |
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":param problem: shooting problem.")) |
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.add_property( |
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"Quu_inv", |
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make_function( |
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&SolverBoxFDDP::get_Quu_inv, |
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bp::return_value_policy<bp::reference_existing_object>()), |
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"inverse of the Quu computed by the box QP") |
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.def(CopyableVisitor<SolverBoxFDDP>()); |
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#endif |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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