GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/solvers/box-qp.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 48 53 90.6%
Branches: 47 94 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2023, 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-qp.hpp"
10
11 #include "python/crocoddyl/core/core.hpp"
12 #include "python/crocoddyl/utils/copyable.hpp"
13 #include "python/crocoddyl/utils/deprecate.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeSolverBoxQP() {
19 10 bp::register_ptr_to_python<boost::shared_ptr<BoxQPSolution> >();
20
21
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 10 bp::class_<BoxQPSolution>(
22 "BoxQPSolution", "Solution data of the box QP.\n\n",
23
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 10 bp::init<Eigen::MatrixXd, Eigen::VectorXd, std::vector<size_t>,
24 std::vector<size_t> >(
25 20 bp::args("self", "Hff_inv", "x", "free_idx", "clamped_idx"),
26 "Initialize the data for the box-QP solution.\n\n"
27 ":param Hff_inv: inverse of the free Hessian\n"
28 ":param x: decision variable\n"
29 ":param free_idx: free indexes\n"
30 ":param clamped_idx: clamped indexes"))
31
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 10 .add_property("Hff_inv",
32
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 10 bp::make_getter(&BoxQPSolution::Hff_inv,
33 ✗ bp::return_internal_reference<>()),
34
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 20 bp::make_setter(&BoxQPSolution::Hff_inv),
35 "inverse of the free Hessian matrix")
36
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 10 .add_property(
37 "x",
38
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 10 bp::make_getter(&BoxQPSolution::x, bp::return_internal_reference<>()),
39
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 20 bp::make_setter(&BoxQPSolution::x), "decision variable")
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 10 .add_property(
41 "free_idx",
42
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 10 bp::make_getter(&BoxQPSolution::free_idx,
43 ✗ bp::return_value_policy<bp::return_by_value>()),
44
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 20 bp::make_setter(&BoxQPSolution::free_idx), "free indexes")
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 10 .add_property(
46 "clamped_idx",
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 10 bp::make_getter(&BoxQPSolution::clamped_idx,
48 ✗ bp::return_value_policy<bp::return_by_value>()),
49
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 20 bp::make_setter(&BoxQPSolution::clamped_idx), "clamped indexes")
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 10 .def(CopyableVisitor<BoxQPSolution>());
51
52 10 bp::register_ptr_to_python<boost::shared_ptr<BoxQP> >();
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54
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 10 bp::class_<BoxQP>(
55 "BoxQP",
56 "Projected-Newton QP for only bound constraints.\n\n"
57 "It solves a QP problem with bound constraints of the form:\n"
58 " x = argmin 0.5 x^T H x + q^T x\n"
59 " subject to: lb <= x <= ub"
60 "where nx is the number of decision variables.",
61
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 10 bp::init<std::size_t, bp::optional<std::size_t, double, double, double> >(
62 20 bp::args("self", "nx", "maxiter", "th_acceptstep", "th_grad", "reg"),
63 "Initialize the Projected-Newton QP for bound constraints.\n\n"
64 ":param nx: dimension of the decision vector\n"
65 ":param maxiter: maximum number of allowed iterations (default 100)\n"
66 ":param th_acceptstep: acceptance step condition (default 0.1)\n"
67 ":param th_grad: gradient tolerance condition (default 1e-9)\n"
68 ":param reg: regularization (default 1e-9)"))
69
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 10 .def("solve", &BoxQP::solve,
70 ✗ bp::return_value_policy<bp::return_by_value>(),
71
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 20 bp::args("H", "q", "lb", "ub", "xinit"),
72 "Compute the solution of bound-constrained QP based on Newton "
73 "projection.\n\n"
74 ":param H: Hessian (dimension nx * nx)\n"
75 ":param q: gradient (dimension nx)\n"
76 ":param lb: lower bound (dimension nx)\n"
77 ":param ub: upper bound (dimension nx)\n"
78 ":param xinit: initial guess")
79
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 10 .add_property("solution",
80
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 10 bp::make_function(
81 &BoxQP::get_solution,
82 10 bp::return_value_policy<bp::copy_const_reference>()),
83 "QP solution.")
84
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 10 .add_property("nx", bp::make_function(&BoxQP::get_nx),
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 20 bp::make_function(&BoxQP::set_nx),
86 "dimension of the decision vector.")
87
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 10 .add_property("maxIter", bp::make_function(&BoxQP::get_maxiter),
88
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 20 bp::make_function(&BoxQP::set_maxiter),
89 "maximum number of allowed iterations.")
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 10 .add_property("maxiter",
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 10 bp::make_function(&BoxQP::get_maxiter,
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 20 deprecated<>("Deprecated. Use maxIter")),
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 20 bp::make_function(&BoxQP::set_maxiter,
94
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 20 deprecated<>("Deprecated. Use maxIter")),
95 "maximum number of allowed iterations.")
96
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 10 .add_property("th_acceptStep",
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 10 bp::make_function(&BoxQP::get_th_acceptstep),
98
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 20 bp::make_function(&BoxQP::set_th_acceptstep),
99 "acceptable reduction ration.")
100
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 10 .add_property("th_grad", bp::make_function(&BoxQP::get_th_grad),
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 20 bp::make_function(&BoxQP::set_th_grad),
102 "convergence tolerance.")
103
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 10 .add_property("reg", bp::make_function(&BoxQP::get_reg),
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 20 bp::make_function(&BoxQP::set_reg), "regularization value.")
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 10 .add_property("alphas",
106
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 10 bp::make_function(
107 &BoxQP::get_alphas,
108 ✗ bp::return_value_policy<bp::copy_const_reference>()),
109
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 20 bp::make_function(&BoxQP::set_alphas),
110 "list of step length (alpha) values")
111
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 10 .def(CopyableVisitor<BoxQP>());
112 10 }
113
114 } // namespace python
115 } // namespace crocoddyl
116