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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2023, 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-qp.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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#include "python/crocoddyl/utils/deprecate.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 exposeSolverBoxQP() { |
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#ifdef SCALAR_float64 |
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bp::register_ptr_to_python<std::shared_ptr<BoxQPSolution> >(); |
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bp::class_<BoxQPSolution>( |
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"BoxQPSolution", "Solution data of the box QP.\n\n", |
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bp::init<Eigen::MatrixXd, Eigen::VectorXd, std::vector<size_t>, |
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std::vector<size_t> >( |
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bp::args("self", "Hff_inv", "x", "free_idx", "clamped_idx"), |
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"Initialize the data for the box-QP solution.\n\n" |
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":param Hff_inv: inverse of the free Hessian\n" |
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":param x: decision variable\n" |
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":param free_idx: free indexes\n" |
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":param clamped_idx: clamped indexes")) |
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.add_property("Hff_inv", |
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bp::make_getter(&BoxQPSolution::Hff_inv, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&BoxQPSolution::Hff_inv), |
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"inverse of the free Hessian matrix") |
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.add_property( |
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"x", |
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bp::make_getter(&BoxQPSolution::x, bp::return_internal_reference<>()), |
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bp::make_setter(&BoxQPSolution::x), "decision variable") |
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.add_property( |
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"free_idx", |
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bp::make_getter(&BoxQPSolution::free_idx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&BoxQPSolution::free_idx), "free indexes") |
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.add_property( |
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"clamped_idx", |
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bp::make_getter(&BoxQPSolution::clamped_idx, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_setter(&BoxQPSolution::clamped_idx), "clamped indexes") |
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.def(CopyableVisitor<BoxQPSolution>()); |
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bp::register_ptr_to_python<std::shared_ptr<BoxQP> >(); |
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bp::class_<BoxQP>( |
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"BoxQP", |
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"Projected-Newton QP for only bound constraints.\n\n" |
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"It solves a QP problem with bound constraints of the form:\n" |
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" x = argmin 0.5 x^T H x + q^T x\n" |
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" subject to: lb <= x <= ub" |
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"where nx is the number of decision variables.", |
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bp::init<std::size_t, bp::optional<std::size_t, double, double, double> >( |
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bp::args("self", "nx", "maxiter", "th_acceptstep", "th_grad", "reg"), |
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"Initialize the Projected-Newton QP for bound constraints.\n\n" |
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":param nx: dimension of the decision vector\n" |
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":param maxiter: maximum number of allowed iterations (default 100)\n" |
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":param th_acceptstep: acceptance step condition (default 0.1)\n" |
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":param th_grad: gradient tolerance condition (default 1e-9)\n" |
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":param reg: regularization (default 1e-9)")) |
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.def("solve", &BoxQP::solve, |
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bp::return_value_policy<bp::return_by_value>(), |
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bp::args("H", "q", "lb", "ub", "xinit"), |
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"Compute the solution of bound-constrained QP based on Newton " |
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"projection.\n\n" |
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":param H: Hessian (dimension nx * nx)\n" |
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":param q: gradient (dimension nx)\n" |
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":param lb: lower bound (dimension nx)\n" |
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":param ub: upper bound (dimension nx)\n" |
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":param xinit: initial guess") |
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.add_property("solution", |
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bp::make_function( |
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&BoxQP::get_solution, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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"QP solution.") |
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.add_property("nx", bp::make_function(&BoxQP::get_nx), |
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bp::make_function(&BoxQP::set_nx), |
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"dimension of the decision vector.") |
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.add_property("maxIter", bp::make_function(&BoxQP::get_maxiter), |
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bp::make_function(&BoxQP::set_maxiter), |
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"maximum number of allowed iterations.") |
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.add_property("maxiter", |
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bp::make_function(&BoxQP::get_maxiter, |
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deprecated<>("Deprecated. Use maxIter")), |
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bp::make_function(&BoxQP::set_maxiter, |
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deprecated<>("Deprecated. Use maxIter")), |
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"maximum number of allowed iterations.") |
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.add_property("th_acceptStep", |
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bp::make_function(&BoxQP::get_th_acceptstep), |
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bp::make_function(&BoxQP::set_th_acceptstep), |
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"acceptable reduction ration.") |
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.add_property("th_grad", bp::make_function(&BoxQP::get_th_grad), |
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bp::make_function(&BoxQP::set_th_grad), |
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"convergence tolerance.") |
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.add_property("reg", bp::make_function(&BoxQP::get_reg), |
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bp::make_function(&BoxQP::set_reg), "regularization value.") |
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.add_property("alphas", |
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bp::make_function( |
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&BoxQP::get_alphas, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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bp::make_function(&BoxQP::set_alphas), |
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"list of step length (alpha) values") |
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.def(CopyableVisitor<BoxQP>()); |
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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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