| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/utils/callbacks.cpp |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 16 | 16 | 100.0% |
| Branches: | 12 | 24 | 50.0% |
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| 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 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | 10 | void exposeCallbacks() { | |
| 19 | 10 | bp::register_ptr_to_python<std::shared_ptr<CallbackAbstract> >(); | |
| 20 | |||
| 21 | 20 | bp::enum_<VerboseLevel>("VerboseLevel") | |
| 22 |
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10 | .value("_0", _0) |
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10 | .value("_1", _1) |
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10 | .value("_2", _2) |
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10 | .value("_3", _3) |
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10 | .value("_4", _4); |
| 27 | |||
| 28 |
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10 | bp::class_<CallbackVerbose, bp::bases<CallbackAbstract> >( |
| 29 | "CallbackVerbose", "Callback function for printing the solver values.", | ||
| 30 |
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10 | bp::init<bp::optional<VerboseLevel, std::size_t> >( |
| 31 | 20 | bp::args("self", "level", "precision"), | |
| 32 | "Initialize the differential verbose callback.\n\n" | ||
| 33 | ":param level: verbose level (default _4)\n" | ||
| 34 | ":param precision: precision of floating point output (default 5)")) | ||
| 35 |
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20 | .def("__call__", &CallbackVerbose::operator(), bp::args("self", "solver"), |
| 36 | "Run the callback function given a solver.\n\n" | ||
| 37 | ":param solver: solver to be diagnostic") | ||
| 38 |
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10 | .add_property("level", &CallbackVerbose::get_level, |
| 39 | &CallbackVerbose::set_level, "verbose level") | ||
| 40 |
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10 | .add_property("precision", &CallbackVerbose::get_precision, |
| 41 | &CallbackVerbose::set_precision, "precision") | ||
| 42 |
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10 | .def(CopyableVisitor<CallbackVerbose>()); |
| 43 | 10 | } | |
| 44 | |||
| 45 | } // namespace python | ||
| 46 | } // namespace crocoddyl | ||
| 47 |