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