GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/solvers/intro-float.cpp
Date: 2025-04-18 16:41:15
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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