| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/utils/callbacks.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/core.hpp" | ||
| 13 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 14 | |||
| 15 | #define SCALAR_float64 | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace python { | ||
| 19 | |||
| 20 | ✗ | void exposeCallbacks() { | |
| 21 | #ifdef SCALAR_float64 | ||
| 22 | ✗ | bp::register_ptr_to_python<std::shared_ptr<CallbackAbstract> >(); | |
| 23 | |||
| 24 | ✗ | bp::enum_<VerboseLevel>("VerboseLevel") | |
| 25 | ✗ | .value("_0", _0) | |
| 26 | ✗ | .value("_1", _1) | |
| 27 | ✗ | .value("_2", _2) | |
| 28 | ✗ | .value("_3", _3) | |
| 29 | ✗ | .value("_4", _4); | |
| 30 | |||
| 31 | ✗ | bp::class_<CallbackVerbose, bp::bases<CallbackAbstract> >( | |
| 32 | "CallbackVerbose", "Callback function for printing the solver values.", | ||
| 33 | ✗ | bp::init<bp::optional<VerboseLevel, std::size_t> >( | |
| 34 | ✗ | bp::args("self", "level", "precision"), | |
| 35 | "Initialize the differential verbose callback.\n\n" | ||
| 36 | ":param level: verbose level (default _4)\n" | ||
| 37 | ":param precision: precision of floating point output (default 5)")) | ||
| 38 | ✗ | .def("__call__", &CallbackVerbose::operator(), bp::args("self", "solver"), | |
| 39 | "Run the callback function given a solver.\n\n" | ||
| 40 | ":param solver: solver to be diagnostic") | ||
| 41 | ✗ | .add_property("level", &CallbackVerbose::get_level, | |
| 42 | &CallbackVerbose::set_level, "verbose level") | ||
| 43 | ✗ | .add_property("precision", &CallbackVerbose::get_precision, | |
| 44 | &CallbackVerbose::set_precision, "precision") | ||
| 45 | ✗ | .def(CopyableVisitor<CallbackVerbose>()); | |
| 46 | #endif | ||
| 47 | ✗ | } | |
| 48 | |||
| 49 | } // namespace python | ||
| 50 | } // namespace crocoddyl | ||
| 51 |