GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/solvers/intro.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 64 64 100.0%
Branches: 49 98 50.0%
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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 namespace crocoddyl {
15 namespace python {
16
17 20 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIntro_solves, SolverIntro::solve,
18 0, 5)
19 20 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIntro_trySteps,
20 SolverIntro::tryStep, 0, 1)
21
22 10 void exposeSolverIntro() {
23 10 bp::register_ptr_to_python<std::shared_ptr<SolverIntro> >();
24
25 20 bp::enum_<EqualitySolverType>("EqualitySolverType")
26
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 10 .value("LuNull", LuNull)
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 10 .value("QrNull", QrNull)
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 10 .value("Schur", Schur)
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 10 .export_values();
30
31
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 10 bp::class_<SolverIntro, bp::bases<SolverFDDP> >(
32
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 10 "SolverIntro", bp::init<std::shared_ptr<ShootingProblem> >(
33 20 bp::args("self", "problem"),
34 "Initialize the vector dimension.\n\n"
35 ":param problem: shooting problem."))
36
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 10 .def("solve", &SolverIntro::solve,
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 10 SolverIntro_solves(
38
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 20 bp::args("self", "init_xs", "init_us", "maxiter", "is_feasible",
39 "init_reg"),
40 "Compute the optimal trajectory xopt, uopt as lists of T+1 and "
41 "T terms.\n\n"
42 "From an initial guess init_xs,init_us (feasible or not), "
43 "iterate\n"
44 "over computeDirection and tryStep until stoppingCriteria is "
45 "below\n"
46 "threshold. It also describes the globalization strategy used\n"
47 "during the numerical optimization.\n"
48 ":param init_xs: initial guess for state trajectory with T+1 "
49 "elements (default [])\n"
50 ":param init_us: initial guess for control trajectory with T "
51 "elements (default []).\n"
52 ":param maxiter: maximum allowed number of iterations (default "
53 "100).\n"
54 ":param is_feasible: true if the init_xs are obtained from "
55 "integrating the init_us (rollout)\n"
56 "(default False).\n"
57 ":param init_reg: initial guess for the regularization value. "
58 "Very low values are typically\n"
59 " used with very good guess points (default "
60 "1e-9).\n"
61 ":returns the optimal trajectory xopt, uopt and a boolean that "
62 "describes if convergence was reached."))
63
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 10 .def("tryStep", &SolverIntro::tryStep,
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 10 SolverIntro_trySteps(
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 20 bp::args("self", "stepLength"),
66 "Rollout the system with a predefined step length.\n\n"
67 ":param stepLength: step length (default 1)\n"
68 ":returns the cost improvement."))
69
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 10 .add_property(
70
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 10 "eq_solver", bp::make_function(&SolverIntro::get_equality_solver),
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 20 bp::make_function(&SolverIntro::set_equality_solver),
72 "type of solver used for handling the equality constraints.")
73
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 10 .add_property("rho", bp::make_function(&SolverIntro::get_rho),
74
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 20 bp::make_function(&SolverIntro::set_rho),
75 "parameter used in the merit function to predict the "
76 "expected reduction.")
77
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 20 .add_property("upsilon", bp::make_function(&SolverIntro::get_upsilon),
78 "estimated penalty parameter that balances relative "
79 "contribution of the cost function and equality "
80 "constraints.")
81
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 10 .add_property("th_feas", bp::make_function(&SolverIntro::get_th_feas),
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 20 bp::make_function(&SolverIntro::set_th_feas),
83 "threshold to define feasibility.")
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 10 .add_property("zero_upsilon",
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 10 bp::make_function(&SolverIntro::get_zero_upsilon),
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 20 bp::make_function(&SolverIntro::set_zero_upsilon),
87 "True if we set estimated penalty parameter (upsilon) to "
88 "zero when solve is called.")
89
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 10 .add_property(
90 "Hu_rank",
91
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 10 make_function(
92 &SolverIntro::get_Hu_rank,
93 10 bp::return_value_policy<bp::reference_existing_object>()),
94 "rank of Hu")
95
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 10 .add_property(
96 "YZ",
97
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 10 make_function(
98 &SolverIntro::get_YZ,
99 10 bp::return_value_policy<bp::reference_existing_object>()),
100 "span and kernel of Hu")
101
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 10 .add_property(
102 "Qzz",
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 10 make_function(
104 &SolverIntro::get_Qzz,
105 10 bp::return_value_policy<bp::reference_existing_object>()),
106 "Qzz")
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 10 .add_property(
108 "Qxz",
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 10 make_function(
110 &SolverIntro::get_Qxz,
111 10 bp::return_value_policy<bp::reference_existing_object>()),
112 "Qxz")
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 10 .add_property(
114 "Quz",
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 10 make_function(
116 &SolverIntro::get_Quz,
117 10 bp::return_value_policy<bp::reference_existing_object>()),
118 "Quz")
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 10 .add_property(
120 "Qz",
121
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 10 make_function(
122 &SolverIntro::get_Qz,
123 10 bp::return_value_policy<bp::reference_existing_object>()),
124 "Qz")
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 10 .add_property(
126 "Hy",
127
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 10 make_function(
128 &SolverIntro::get_Hy,
129 10 bp::return_value_policy<bp::reference_existing_object>()),
130 "Hy")
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 10 .add_property(
132 "Kz",
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 10 make_function(
134 &SolverIntro::get_Kz,
135 10 bp::return_value_policy<bp::reference_existing_object>()),
136 "Kz")
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 10 .add_property(
138 "kz",
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 10 make_function(
140 &SolverIntro::get_kz,
141 10 bp::return_value_policy<bp::reference_existing_object>()),
142 "kz")
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 10 .add_property(
144 "Ks",
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 10 make_function(
146 &SolverIntro::get_Ks,
147 10 bp::return_value_policy<bp::reference_existing_object>()),
148 "Ks")
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 10 .add_property(
150 "ks",
151
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 10 make_function(
152 &SolverIntro::get_ks,
153 10 bp::return_value_policy<bp::reference_existing_object>()),
154 "ks")
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 10 .def(CopyableVisitor<SolverIntro>());
156 10 }
157
158 } // namespace python
159 } // namespace crocoddyl
160