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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, |
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// University of Oxford, 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/utils/callbacks.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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#define SCALAR_float64 |
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namespace crocoddyl { |
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namespace python { |
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void exposeCallbacks() { |
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#ifdef SCALAR_float64 |
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bp::register_ptr_to_python<std::shared_ptr<CallbackAbstract> >(); |
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bp::enum_<VerboseLevel>("VerboseLevel") |
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.value("_0", _0) |
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.value("_1", _1) |
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.value("_2", _2) |
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.value("_3", _3) |
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.value("_4", _4); |
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bp::class_<CallbackVerbose, bp::bases<CallbackAbstract> >( |
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"CallbackVerbose", "Callback function for printing the solver values.", |
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bp::init<bp::optional<VerboseLevel, std::size_t> >( |
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bp::args("self", "level", "precision"), |
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"Initialize the differential verbose callback.\n\n" |
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":param level: verbose level (default _4)\n" |
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":param precision: precision of floating point output (default 5)")) |
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.def("__call__", &CallbackVerbose::operator(), bp::args("self", "solver"), |
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"Run the callback function given a solver.\n\n" |
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":param solver: solver to be diagnostic") |
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.add_property("level", &CallbackVerbose::get_level, |
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&CallbackVerbose::set_level, "verbose level") |
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.add_property("precision", &CallbackVerbose::get_precision, |
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&CallbackVerbose::set_precision, "precision") |
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.def(CopyableVisitor<CallbackVerbose>()); |
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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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