| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 9 | 9 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, 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-flat-exp.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 Model> | ||
| 19 | struct ActivationModelQuadFlatExpVisitor | ||
| 20 | : public bp::def_visitor<ActivationModelQuadFlatExpVisitor<Model>> { | ||
| 21 | typedef typename Model::Scalar Scalar; | ||
| 22 | template <class PyClass> | ||
| 23 | 40 | void visit(PyClass& cl) const { | |
| 24 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "r"), | |
| 25 | "Compute the 1 - exp(-||r||^2 / alpha).\n\n" | ||
| 26 | ":param data: activation data\n" | ||
| 27 | ":param r: residual vector") | ||
| 28 |
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80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 29 | "Compute the derivatives of a quadratic flat function.\n\n" | ||
| 30 | "Note that the Hessian is constant, so we don't write again this " | ||
| 31 | "value.\n" | ||
| 32 | ":param data: activation data\n" | ||
| 33 | ":param r: residual vector \n") | ||
| 34 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 35 | "Create the quadratic flat activation data.\n\n") | ||
| 36 |
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40 | .add_property("alpha", bp::make_function(&Model::get_alpha), |
| 37 | bp::make_function(&Model::set_alpha), "alpha"); | ||
| 38 | 40 | } | |
| 39 | }; | ||
| 40 | |||
| 41 | #define CROCODDYL_ACTIVATION_MODEL_QUADFLATEXP_PYTHON_BINDINGS(Scalar) \ | ||
| 42 | typedef ActivationModelQuadFlatExpTpl<Scalar> Model; \ | ||
| 43 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 44 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 45 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 46 | "ActivationModelQuadFlatExp", \ | ||
| 47 | "Quadratic flat activation model.\n\n" \ | ||
| 48 | "A quadratic flat action describes a quadratic flat function that " \ | ||
| 49 | "depends on the residual, i.e., 1 - exp(-||r||^2 / alpha).", \ | ||
| 50 | bp::init<std::size_t, Scalar>( \ | ||
| 51 | bp::args("self", "nr", "alpha"), \ | ||
| 52 | "Initialize the activation model.\n\n" \ | ||
| 53 | ":param nr: dimension of the cost-residual vector" \ | ||
| 54 | "param alpha: width of quadratic basin near zero")) \ | ||
| 55 | .def(ActivationModelQuadFlatExpVisitor<Model>()) \ | ||
| 56 | .def(CastVisitor<Model>()) \ | ||
| 57 | .def(PrintableVisitor<Model>()) \ | ||
| 58 | .def(CopyableVisitor<Model>()); | ||
| 59 | |||
| 60 | 10 | void exposeActivationQuadFlatExp() { | |
| 61 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 62 | CROCODDYL_ACTIVATION_MODEL_QUADFLATEXP_PYTHON_BINDINGS) | ||
| 63 | 10 | } | |
| 64 | |||
| 65 | } // namespace python | ||
| 66 | } // namespace crocoddyl | ||
| 67 |