| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 16 | 16 | 100.0% |
| Branches: | 12 | 24 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2024, 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-flat-exp.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/activation-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | 10 | void exposeActivationQuadFlatExp() { | |
| 20 | boost::python::register_ptr_to_python< | ||
| 21 | 10 | boost::shared_ptr<ActivationModelQuadFlatExp> >(); | |
| 22 | |||
| 23 |
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10 | bp::class_<ActivationModelQuadFlatExp, bp::bases<ActivationModelAbstract> >( |
| 24 | "ActivationModelQuadFlatExp", | ||
| 25 | "Quadratic flat activation model.\n\n" | ||
| 26 | "A quadratic flat action describes a quadratic flat function that " | ||
| 27 | "depends on the residual, i.e.\n" | ||
| 28 | "1 - exp(-||r||^2 / alpha).", | ||
| 29 |
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10 | bp::init<std::size_t, double>( |
| 30 | 20 | bp::args("self", "nr", "alpha"), | |
| 31 | "Initialize the activation model.\n\n" | ||
| 32 | ":param nr: dimension of the cost-residual vector" | ||
| 33 | "param alpha: width of quadratic basin near zero")) | ||
| 34 |
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10 | .def("calc", &ActivationModelQuadFlatExp::calc, |
| 35 |
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20 | bp::args("self", "data", "r"), |
| 36 | "Compute the 1 - exp(-||r||^2 / alpha).\n\n" | ||
| 37 | ":param data: activation data\n" | ||
| 38 | ":param r: residual vector") | ||
| 39 |
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10 | .def("calcDiff", &ActivationModelQuadFlatExp::calcDiff, |
| 40 |
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20 | bp::args("self", "data", "r"), |
| 41 | "Compute the derivatives of a quadratic flat function.\n\n" | ||
| 42 | "Note that the Hessian is constant, so we don't write again this " | ||
| 43 | "value.\n" | ||
| 44 | ":param data: activation data\n" | ||
| 45 | ":param r: residual vector \n") | ||
| 46 |
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10 | .def("createData", &ActivationModelQuadFlatExp::createData, |
| 47 |
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20 | bp::args("self"), "Create the quadratic flat activation data.\n\n") |
| 48 |
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10 | .add_property( |
| 49 |
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10 | "alpha", bp::make_function(&ActivationModelQuadFlatExp::get_alpha), |
| 50 |
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20 | bp::make_function(&ActivationModelQuadFlatExp::set_alpha), "alpha") |
| 51 |
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10 | .def(CopyableVisitor<ActivationModelQuadFlatExp>()); |
| 52 | 10 | } | |
| 53 | |||
| 54 | } // namespace python | ||
| 55 | } // namespace crocoddyl | ||
| 56 |