| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/solvers/box-fddp.cpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeSolverBoxFDDP() { | |
| 18 | 10 | bp::register_ptr_to_python<boost::shared_ptr<SolverBoxFDDP> >(); | |
| 19 | |||
| 20 |
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10 | bp::class_<SolverBoxFDDP, bp::bases<SolverFDDP> >( |
| 21 | "SolverBoxFDDP", | ||
| 22 | "Box-constrained FDDP solver.\n\n" | ||
| 23 | ":param shootingProblem: shooting problem (list of action models along " | ||
| 24 | "trajectory.)", | ||
| 25 |
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10 | bp::init<boost::shared_ptr<ShootingProblem> >( |
| 26 | 20 | bp::args("self", "problem"), | |
| 27 | "Initialize the vector dimension.\n\n" | ||
| 28 | ":param problem: shooting problem.")) | ||
| 29 |
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10 | .add_property("Quu_inv", |
| 30 |
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10 | make_function(&SolverBoxFDDP::get_Quu_inv, |
| 31 | 10 | bp::return_internal_reference<>()), | |
| 32 | "inverse of the Quu computed by the box QP") | ||
| 33 |
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10 | .def(CopyableVisitor<SolverBoxFDDP>()); |
| 34 | 10 | } | |
| 35 | |||
| 36 | } // namespace python | ||
| 37 | } // namespace crocoddyl | ||
| 38 |