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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for double |
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#include "crocoddyl/core/activations/quadratic-flat-exp.hpp" |
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#include "python/crocoddyl/core/activation-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct ActivationModelQuadFlatExpVisitor |
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: public bp::def_visitor<ActivationModelQuadFlatExpVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", &Model::calc, bp::args("self", "data", "r"), |
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"Compute the 1 - exp(-||r||^2 / alpha).\n\n" |
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":param data: activation data\n" |
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":param r: residual vector") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
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"Compute the derivatives of a quadratic flat function.\n\n" |
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"Note that the Hessian is constant, so we don't write again this " |
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"value.\n" |
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":param data: activation data\n" |
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":param r: residual vector \n") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the quadratic flat activation data.\n\n") |
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.add_property("alpha", bp::make_function(&Model::get_alpha), |
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bp::make_function(&Model::set_alpha), "alpha"); |
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} |
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}; |
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#define CROCODDYL_ACTIVATION_MODEL_QUADFLATEXP_PYTHON_BINDINGS(Scalar) \ |
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typedef ActivationModelQuadFlatExpTpl<Scalar> Model; \ |
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typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"ActivationModelQuadFlatExp", \ |
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"Quadratic flat activation model.\n\n" \ |
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"A quadratic flat action describes a quadratic flat function that " \ |
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"depends on the residual, i.e., 1 - exp(-||r||^2 / alpha).", \ |
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bp::init<std::size_t, Scalar>( \ |
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bp::args("self", "nr", "alpha"), \ |
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"Initialize the activation model.\n\n" \ |
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":param nr: dimension of the cost-residual vector" \ |
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"param alpha: width of quadratic basin near zero")) \ |
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.def(ActivationModelQuadFlatExpVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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void exposeActivationQuadFlatExp() { |
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CROCODDYL_ACTIVATION_MODEL_QUADFLATEXP_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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