GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/activations/quadratic-barrier.cpp
Date: 2025-03-26 19:23:43
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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 #include "crocoddyl/core/activations/quadratic-barrier.hpp"
11
12 #include "python/crocoddyl/core/activation-base.hpp"
13 #include "python/crocoddyl/core/core.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 template <typename Bounds>
19 struct ActivationBoundsVisitor
20 : public bp::def_visitor<ActivationBoundsVisitor<Bounds>> {
21 typedef typename Bounds::Scalar Scalar;
22 template <class PyClass>
23 40 void visit(PyClass& cl) const {
24
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 80 cl.add_property(
25 "lb", bp::make_getter(&Bounds::lb),
26 40 bp::make_setter(&Bounds::lb, bp::return_internal_reference<>()),
27 "lower bounds")
28
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 80 .add_property(
29 "ub", bp::make_getter(&Bounds::ub),
30 40 bp::make_setter(&Bounds::lb, bp::return_internal_reference<>()),
31 "upper bounds")
32
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 40 .add_property("beta", &Bounds::beta, "beta");
33 40 }
34 };
35
36 template <typename Model>
37 struct ActivationModelQuadraticVisitor
38 : public bp::def_visitor<ActivationModelQuadraticVisitor<Model>> {
39 typedef typename Model::Scalar Scalar;
40 template <class PyClass>
41 40 void visit(PyClass& cl) const {
42 40 cl.def("calc", &Model::calc, bp::args("self", "data", "r"),
43 "Compute the inequality activation.\n\n"
44 ":param data: activation data\n"
45 ":param r: residual vector")
46
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 80 .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"),
47 "Compute the derivatives of inequality activation.\n\n"
48 ":param data: activation data\n"
49 "Note that the Hessian is constant, so we don't write again this "
50 "value. It assumes that calc has been run first.\n"
51 ":param r: residual vector \n")
52
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 80 .def("createData", &Model::createData, bp::args("self"),
53 "Create the weighted quadratic action data.")
54
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 80 .add_property("bounds",
55 bp::make_function(&Model::get_bounds,
56 40 bp::return_internal_reference<>()),
57 bp::make_function(&Model::set_bounds),
58 "bounds (beta, lower and upper bounds)");
59 40 }
60 };
61
62 #define CROCODDYL_ACTIVATION_BOUNDS_PYTHON_BINDINGS(Scalar) \
63 typedef ActivationBoundsTpl<Scalar> Bounds; \
64 typedef typename Bounds::VectorXs VectorXs; \
65 bp::register_ptr_to_python<std::shared_ptr<Bounds>>(); \
66 bp::class_<Bounds>( \
67 "ActivationBounds", \
68 "Activation bounds.\n\n" \
69 "The activation bounds describe the lower and upper vector plus it " \
70 "activation range (between 0 and 1), its default value is 1. Note that " \
71 "a full activation is defined by 1 and the activation range is equally " \
72 "distributed between the lower and upper bounds.", \
73 bp::init<VectorXs, VectorXs, bp::optional<Scalar>>( \
74 bp::args("self", "lb", "ub", "beta"), \
75 "Initialize the activation bounds.\n\n" \
76 ":param lb: lower bounds\n" \
77 ":param ub: upper bounds\n" \
78 ":param beta: range of activation (between 0 to 1, default 1)")) \
79 .def(ActivationBoundsVisitor<Bounds>()) \
80 .def(CastVisitor<Bounds>()) \
81 .def(PrintableVisitor<Bounds>()) \
82 .def(CopyableVisitor<Bounds>());
83
84 #define CROCODDYL_ACTIVATION_MODEL_QUADRATIC_BARRIER_PYTHON_BINDINGS(Scalar) \
85 typedef ActivationModelQuadraticBarrierTpl<Scalar> Model; \
86 typedef ActivationModelAbstractTpl<Scalar> ModelBase; \
87 typedef ActivationBoundsTpl<Scalar> Bounds; \
88 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
89 bp::class_<Model, bp::bases<ModelBase>>( \
90 "ActivationModelQuadraticBarrier", \
91 "Inequality activation model.\n\n" \
92 "The activation is zero when r is between the lower (lb) and upper " \
93 "(ub) bounds, beta determines how much of the total range is not " \
94 "activated. This is the activation equations:\n" \
95 "a(r) = 0.5 * ||r||^2 for lb > r > ub\n" \
96 "a(r) = 0. for lb <= r <= ub.", \
97 bp::init<Bounds>(bp::args("self", "bounds"), \
98 "Initialize the activation model.\n\n" \
99 ":param bounds: activation bounds")) \
100 .def(ActivationModelQuadraticVisitor<Model>()) \
101 .def(CastVisitor<Model>()) \
102 .def(PrintableVisitor<Model>()) \
103 .def(CopyableVisitor<Model>());
104
105 10 void exposeActivationQuadraticBarrier() {
106
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTIVATION_BOUNDS_PYTHON_BINDINGS)
107
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 20 CROCODDYL_PYTHON_SCALARS(
108 CROCODDYL_ACTIVATION_MODEL_QUADRATIC_BARRIER_PYTHON_BINDINGS)
109 10 }
110
111 } // namespace python
112 } // namespace crocoddyl
113