| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/activations/quadratic-flat-log.cpp |
| Date: | 2025-03-26 19:23:43 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 9 | 9 | 100.0% |
| Branches: | 25 | 50 | 50.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | #include "crocoddyl/core/activations/quadratic-flat-log.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/core/activation-base.hpp" | ||
| 12 | #include "python/crocoddyl/core/core.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct ActivationModelQuadFlatLogVisitor | ||
| 19 | : public bp::def_visitor<ActivationModelQuadFlatLogVisitor<Model>> { | ||
| 20 | typedef typename Model::Scalar Scalar; | ||
| 21 | template <class PyClass> | ||
| 22 | 40 | void visit(PyClass& cl) const { | |
| 23 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "r"), | |
| 24 | "Compute the log(1 + ||r||^2 / alpha).\n" | ||
| 25 | ":param data: activation data\n" | ||
| 26 | ":param r: residual vector") | ||
| 27 |
2/4✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
|
80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 28 | "Compute the derivatives of a quadratic flat function.\n" | ||
| 29 | "Note that the Hessian is constant, so we don't write again this " | ||
| 30 | "value.\n" | ||
| 31 | ":param data: activation data\n" | ||
| 32 | ":param r: residual vector \n") | ||
| 33 |
2/4✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
|
80 | .def("createData", &Model::createData, bp::args("self"), |
| 34 | "Create the quadratic flat activation data.\n") | ||
| 35 |
4/8✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 20 times.
✗ Branch 11 not taken.
|
40 | .add_property("alpha", bp::make_function(&Model::get_alpha), |
| 36 | bp::make_function(&Model::set_alpha), "alpha"); | ||
| 37 | 40 | } | |
| 38 | }; | ||
| 39 | |||
| 40 | #define CROCODDYL_ACTIVATION_MODEL_QUADFLATLOG_PYTHON_BINDINGS(Scalar) \ | ||
| 41 | typedef ActivationModelQuadFlatLogTpl<Scalar> Model; \ | ||
| 42 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 43 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 44 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 45 | "ActivationModelQuadFlatLog", \ | ||
| 46 | "Quadratic flat activation model.\n" \ | ||
| 47 | "A quadratic flat action describes a quadratic flat function that " \ | ||
| 48 | "depends on the residual, i.e., log(1 + ||r||^2 / alpha).", \ | ||
| 49 | bp::init<std::size_t, Scalar>( \ | ||
| 50 | bp::args("self", "nr", "alpha"), \ | ||
| 51 | "Initialize the activation model.\n\n" \ | ||
| 52 | ":param nr: dimension of the cost-residual vector" \ | ||
| 53 | "param alpha: width of quadratic basin near zero")) \ | ||
| 54 | .def(ActivationModelQuadFlatLogVisitor<Model>()) \ | ||
| 55 | .def(CastVisitor<Model>()) \ | ||
| 56 | .def(PrintableVisitor<Model>()) \ | ||
| 57 | .def(CopyableVisitor<Model>()); | ||
| 58 | |||
| 59 | 10 | void exposeActivationQuadFlatLog() { | |
| 60 |
17/34✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 24 taken 10 times.
✗ Branch 25 not taken.
✓ Branch 27 taken 10 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 10 times.
✗ Branch 31 not taken.
✓ Branch 35 taken 10 times.
✗ Branch 36 not taken.
✓ Branch 38 taken 10 times.
✗ Branch 39 not taken.
✓ Branch 41 taken 10 times.
✗ Branch 42 not taken.
✓ Branch 44 taken 10 times.
✗ Branch 45 not taken.
✓ Branch 47 taken 10 times.
✗ Branch 48 not taken.
✓ Branch 50 taken 10 times.
✗ Branch 51 not taken.
✓ Branch 53 taken 10 times.
✗ Branch 54 not taken.
✓ Branch 56 taken 10 times.
✗ Branch 57 not taken.
|
20 | CROCODDYL_PYTHON_SCALARS( |
| 61 | CROCODDYL_ACTIVATION_MODEL_QUADFLATLOG_PYTHON_BINDINGS) | ||
| 62 | 10 | } | |
| 63 | |||
| 64 | } // namespace python | ||
| 65 | } // namespace crocoddyl | ||
| 66 |