| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh |
| 5 |
|
|
// Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
// Auto-generated file for double |
| 11 |
|
|
#include "crocoddyl/core/activations/quadratic-barrier.hpp" |
| 12 |
|
|
|
| 13 |
|
|
#include "python/crocoddyl/core/activation-base.hpp" |
| 14 |
|
|
#include "python/crocoddyl/core/core.hpp" |
| 15 |
|
|
|
| 16 |
|
|
namespace crocoddyl { |
| 17 |
|
|
namespace python { |
| 18 |
|
|
|
| 19 |
|
|
template <typename Bounds> |
| 20 |
|
|
struct ActivationBoundsVisitor |
| 21 |
|
|
: public bp::def_visitor<ActivationBoundsVisitor<Bounds>> { |
| 22 |
|
|
typedef typename Bounds::Scalar Scalar; |
| 23 |
|
|
template <class PyClass> |
| 24 |
|
✗ |
void visit(PyClass& cl) const { |
| 25 |
|
✗ |
cl.add_property( |
| 26 |
|
|
"lb", bp::make_getter(&Bounds::lb), |
| 27 |
|
✗ |
bp::make_setter(&Bounds::lb, bp::return_internal_reference<>()), |
| 28 |
|
|
"lower bounds") |
| 29 |
|
✗ |
.add_property( |
| 30 |
|
|
"ub", bp::make_getter(&Bounds::ub), |
| 31 |
|
✗ |
bp::make_setter(&Bounds::lb, bp::return_internal_reference<>()), |
| 32 |
|
|
"upper bounds") |
| 33 |
|
✗ |
.add_property("beta", &Bounds::beta, "beta"); |
| 34 |
|
|
} |
| 35 |
|
|
}; |
| 36 |
|
|
|
| 37 |
|
|
template <typename Model> |
| 38 |
|
|
struct ActivationModelQuadraticVisitor |
| 39 |
|
|
: public bp::def_visitor<ActivationModelQuadraticVisitor<Model>> { |
| 40 |
|
|
typedef typename Model::Scalar Scalar; |
| 41 |
|
|
template <class PyClass> |
| 42 |
|
✗ |
void visit(PyClass& cl) const { |
| 43 |
|
✗ |
cl.def("calc", &Model::calc, bp::args("self", "data", "r"), |
| 44 |
|
|
"Compute the inequality activation.\n\n" |
| 45 |
|
|
":param data: activation data\n" |
| 46 |
|
|
":param r: residual vector") |
| 47 |
|
✗ |
.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 48 |
|
|
"Compute the derivatives of inequality activation.\n\n" |
| 49 |
|
|
":param data: activation data\n" |
| 50 |
|
|
"Note that the Hessian is constant, so we don't write again this " |
| 51 |
|
|
"value. It assumes that calc has been run first.\n" |
| 52 |
|
|
":param r: residual vector \n") |
| 53 |
|
✗ |
.def("createData", &Model::createData, bp::args("self"), |
| 54 |
|
|
"Create the weighted quadratic action data.") |
| 55 |
|
✗ |
.add_property("bounds", |
| 56 |
|
|
bp::make_function(&Model::get_bounds, |
| 57 |
|
✗ |
bp::return_internal_reference<>()), |
| 58 |
|
|
bp::make_function(&Model::set_bounds), |
| 59 |
|
|
"bounds (beta, lower and upper bounds)"); |
| 60 |
|
|
} |
| 61 |
|
|
}; |
| 62 |
|
|
|
| 63 |
|
|
#define CROCODDYL_ACTIVATION_BOUNDS_PYTHON_BINDINGS(Scalar) \ |
| 64 |
|
|
typedef ActivationBoundsTpl<Scalar> Bounds; \ |
| 65 |
|
|
typedef typename Bounds::VectorXs VectorXs; \ |
| 66 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Bounds>>(); \ |
| 67 |
|
|
bp::class_<Bounds>( \ |
| 68 |
|
|
"ActivationBounds", \ |
| 69 |
|
|
"Activation bounds.\n\n" \ |
| 70 |
|
|
"The activation bounds describe the lower and upper vector plus it " \ |
| 71 |
|
|
"activation range (between 0 and 1), its default value is 1. Note that " \ |
| 72 |
|
|
"a full activation is defined by 1 and the activation range is equally " \ |
| 73 |
|
|
"distributed between the lower and upper bounds.", \ |
| 74 |
|
|
bp::init<VectorXs, VectorXs, bp::optional<Scalar>>( \ |
| 75 |
|
|
bp::args("self", "lb", "ub", "beta"), \ |
| 76 |
|
|
"Initialize the activation bounds.\n\n" \ |
| 77 |
|
|
":param lb: lower bounds\n" \ |
| 78 |
|
|
":param ub: upper bounds\n" \ |
| 79 |
|
|
":param beta: range of activation (between 0 to 1, default 1)")) \ |
| 80 |
|
|
.def(ActivationBoundsVisitor<Bounds>()) \ |
| 81 |
|
|
.def(CastVisitor<Bounds>()) \ |
| 82 |
|
|
.def(PrintableVisitor<Bounds>()) \ |
| 83 |
|
|
.def(CopyableVisitor<Bounds>()); |
| 84 |
|
|
|
| 85 |
|
|
#define CROCODDYL_ACTIVATION_MODEL_QUADRATIC_BARRIER_PYTHON_BINDINGS(Scalar) \ |
| 86 |
|
|
typedef ActivationModelQuadraticBarrierTpl<Scalar> Model; \ |
| 87 |
|
|
typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ |
| 88 |
|
|
typedef ActivationBoundsTpl<Scalar> Bounds; \ |
| 89 |
|
|
bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
| 90 |
|
|
bp::class_<Model, bp::bases<ModelBase>>( \ |
| 91 |
|
|
"ActivationModelQuadraticBarrier", \ |
| 92 |
|
|
"Inequality activation model.\n\n" \ |
| 93 |
|
|
"The activation is zero when r is between the lower (lb) and upper " \ |
| 94 |
|
|
"(ub) bounds, beta determines how much of the total range is not " \ |
| 95 |
|
|
"activated. This is the activation equations:\n" \ |
| 96 |
|
|
"a(r) = 0.5 * ||r||^2 for lb > r > ub\n" \ |
| 97 |
|
|
"a(r) = 0. for lb <= r <= ub.", \ |
| 98 |
|
|
bp::init<Bounds>(bp::args("self", "bounds"), \ |
| 99 |
|
|
"Initialize the activation model.\n\n" \ |
| 100 |
|
|
":param bounds: activation bounds")) \ |
| 101 |
|
|
.def(ActivationModelQuadraticVisitor<Model>()) \ |
| 102 |
|
|
.def(CastVisitor<Model>()) \ |
| 103 |
|
|
.def(PrintableVisitor<Model>()) \ |
| 104 |
|
|
.def(CopyableVisitor<Model>()); |
| 105 |
|
|
|
| 106 |
|
✗ |
void exposeActivationQuadraticBarrier() { |
| 107 |
|
✗ |
CROCODDYL_ACTIVATION_BOUNDS_PYTHON_BINDINGS(double) |
| 108 |
|
✗ |
CROCODDYL_ACTIVATION_MODEL_QUADRATIC_BARRIER_PYTHON_BINDINGS(double) |
| 109 |
|
|
} |
| 110 |
|
|
|
| 111 |
|
|
} // namespace python |
| 112 |
|
|
} // namespace crocoddyl |
| 113 |
|
|
|