GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#include "crocoddyl/core/solvers/intro.hpp"
10
11			#include "python/crocoddyl/core/core.hpp"
12			#include "python/crocoddyl/utils/copyable.hpp"
13
14			#define SCALAR_float32
15
16			namespace crocoddyl {
17			namespace python {
18
19			BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIntro_solves, SolverIntro::solve,
20			0, 5)
21			BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIntro_trySteps,
22			SolverIntro::tryStep, 0, 1)
23
24		✗	void exposeSolverIntro() {
25			#ifdef SCALAR_float64
26			bp::register_ptr_to_python<std::shared_ptr<SolverIntro> >();
27
28			bp::enum_<EqualitySolverType>("EqualitySolverType")
29			.value("LuNull", LuNull)
30			.value("QrNull", QrNull)
31			.value("Schur", Schur)
32			.export_values();
33
34			bp::class_<SolverIntro, bp::bases<SolverFDDP> >(
35			"SolverIntro", bp::init<std::shared_ptr<ShootingProblem> >(
36			bp::args("self", "problem"),
37			"Initialize the vector dimension.\n\n"
38			":param problem: shooting problem."))
39			.def("solve", &SolverIntro::solve,
40			SolverIntro_solves(
41			bp::args("self", "init_xs", "init_us", "maxiter", "is_feasible",
42			"init_reg"),
43			"Compute the optimal trajectory xopt, uopt as lists of T+1 and "
44			"T terms.\n\n"
45			"From an initial guess init_xs,init_us (feasible or not), "
46			"iterate\n"
47			"over computeDirection and tryStep until stoppingCriteria is "
48			"below\n"
49			"threshold. It also describes the globalization strategy used\n"
50			"during the numerical optimization.\n"
51			":param init_xs: initial guess for state trajectory with T+1 "
52			"elements (default [])\n"
53			":param init_us: initial guess for control trajectory with T "
54			"elements (default []).\n"
55			":param maxiter: maximum allowed number of iterations (default "
56			"100).\n"
57			":param is_feasible: true if the init_xs are obtained from "
58			"integrating the init_us (rollout)\n"
59			"(default False).\n"
60			":param init_reg: initial guess for the regularization value. "
61			"Very low values are typically\n"
62			" used with very good guess points (default "
63			"1e-9).\n"
64			":returns the optimal trajectory xopt, uopt and a boolean that "
65			"describes if convergence was reached."))
66			.def("tryStep", &SolverIntro::tryStep,
67			SolverIntro_trySteps(
68			bp::args("self", "stepLength"),
69			"Rollout the system with a predefined step length.\n\n"
70			":param stepLength: step length (default 1)\n"
71			":returns the cost improvement."))
72			.add_property(
73			"eq_solver", bp::make_function(&SolverIntro::get_equality_solver),
74			bp::make_function(&SolverIntro::set_equality_solver),
75			"type of solver used for handling the equality constraints.")
76			.add_property("rho", bp::make_function(&SolverIntro::get_rho),
77			bp::make_function(&SolverIntro::set_rho),
78			"parameter used in the merit function to predict the "
79			"expected reduction.")
80			.add_property("upsilon", bp::make_function(&SolverIntro::get_upsilon),
81			"estimated penalty parameter that balances relative "
82			"contribution of the cost function and equality "
83			"constraints.")
84			.add_property("th_feas", bp::make_function(&SolverIntro::get_th_feas),
85			bp::make_function(&SolverIntro::set_th_feas),
86			"threshold to define feasibility.")
87			.add_property("zero_upsilon",
88			bp::make_function(&SolverIntro::get_zero_upsilon),
89			bp::make_function(&SolverIntro::set_zero_upsilon),
90			"True if we set estimated penalty parameter (upsilon) to "
91			"zero when solve is called.")
92			.add_property(
93			"Hu_rank",
94			make_function(
95			&SolverIntro::get_Hu_rank,
96			bp::return_value_policy<bp::reference_existing_object>()),
97			"rank of Hu")
98			.add_property(
99			"YZ",
100			make_function(
101			&SolverIntro::get_YZ,
102			bp::return_value_policy<bp::reference_existing_object>()),
103			"span and kernel of Hu")
104			.add_property(
105			"Qzz",
106			make_function(
107			&SolverIntro::get_Qzz,
108			bp::return_value_policy<bp::reference_existing_object>()),
109			"Qzz")
110			.add_property(
111			"Qxz",
112			make_function(
113			&SolverIntro::get_Qxz,
114			bp::return_value_policy<bp::reference_existing_object>()),
115			"Qxz")
116			.add_property(
117			"Quz",
118			make_function(
119			&SolverIntro::get_Quz,
120			bp::return_value_policy<bp::reference_existing_object>()),
121			"Quz")
122			.add_property(
123			"Qz",
124			make_function(
125			&SolverIntro::get_Qz,
126			bp::return_value_policy<bp::reference_existing_object>()),
127			"Qz")
128			.add_property(
129			"Hy",
130			make_function(
131			&SolverIntro::get_Hy,
132			bp::return_value_policy<bp::reference_existing_object>()),
133			"Hy")
134			.add_property(
135			"Kz",
136			make_function(
137			&SolverIntro::get_Kz,
138			bp::return_value_policy<bp::reference_existing_object>()),
139			"Kz")
140			.add_property(
141			"kz",
142			make_function(
143			&SolverIntro::get_kz,
144			bp::return_value_policy<bp::reference_existing_object>()),
145			"kz")
146			.add_property(
147			"Ks",
148			make_function(
149			&SolverIntro::get_Ks,
150			bp::return_value_policy<bp::reference_existing_object>()),
151			"Ks")
152			.add_property(
153			"ks",
154			make_function(
155			&SolverIntro::get_ks,
156			bp::return_value_policy<bp::reference_existing_object>()),
157			"ks")
158			.def(CopyableVisitor<SolverIntro>());
159			#endif
160		✗	}
161
162			} // namespace python
163			} // namespace crocoddyl
164