| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | // Auto-generated file for float | ||
| 11 | #include "crocoddyl/core/activations/smooth-1norm.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/core/activation-base.hpp" | ||
| 14 | #include "python/crocoddyl/core/core.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | template <typename Model> | ||
| 20 | struct ActivationModelSmooth1NormVisitor | ||
| 21 | : public bp::def_visitor<ActivationModelSmooth1NormVisitor<Model>> { | ||
| 22 | typedef typename Model::Scalar Scalar; | ||
| 23 | template <class PyClass> | ||
| 24 | ✗ | void visit(PyClass& cl) const { | |
| 25 | ✗ | cl.def("calc", &Model::calc, bp::args("self", "data", "r"), | |
| 26 | "Compute the smooth-abs function.\n\n" | ||
| 27 | ":param data: activation data\n" | ||
| 28 | ":param r: residual vector") | ||
| 29 | ✗ | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), | |
| 30 | "Compute the derivatives of a smooth-abs function.\n\n" | ||
| 31 | "It assumes that calc has been run first.\n" | ||
| 32 | ":param data: activation data\n" | ||
| 33 | ":param r: residual vector \n") | ||
| 34 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 35 | "Create the smooth-abs activation data.\n\n"); | ||
| 36 | ✗ | } | |
| 37 | }; | ||
| 38 | |||
| 39 | template <typename Data> | ||
| 40 | struct ActivationDataSmooth1NormVisitor | ||
| 41 | : public bp::def_visitor<ActivationDataSmooth1NormVisitor<Data>> { | ||
| 42 | typedef typename Data::Scalar Scalar; | ||
| 43 | template <class PyClass> | ||
| 44 | ✗ | void visit(PyClass& cl) const { | |
| 45 | ✗ | cl.add_property( | |
| 46 | ✗ | "a", bp::make_getter(&Data::a, bp::return_internal_reference<>()), | |
| 47 | "sqrt{eps + ||ri||^2} value"); | ||
| 48 | ✗ | } | |
| 49 | }; | ||
| 50 | |||
| 51 | #define CROCODDYL_ACTIVATION_MODEL_SMOOTH1NORM_PYTHON_BINDINGS(Scalar) \ | ||
| 52 | typedef ActivationModelSmooth1NormTpl<Scalar> Model; \ | ||
| 53 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 54 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 55 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 56 | "ActivationModelSmooth1Norm", \ | ||
| 57 | "Smooth-absolute activation model.\n\n" \ | ||
| 58 | "It describes a smooth representation of an absolute activation " \ | ||
| 59 | "(1-norm), i.e., sum^nr_{i=0} sqrt{eps + ||ri||^2}, where ri is the " \ | ||
| 60 | "scalar residual for the i constraints, and nr is the dimension of the " \ | ||
| 61 | "residual vector.", \ | ||
| 62 | bp::init<std::size_t, bp::optional<Scalar>>( \ | ||
| 63 | bp::args("self", "nr", "eps"), \ | ||
| 64 | "Initialize the activation model.\n\n" \ | ||
| 65 | ":param nr: dimension of the residual vector\n" \ | ||
| 66 | ":param eps: smoothing factor (default: 1.)")) \ | ||
| 67 | .def(ActivationModelSmooth1NormVisitor<Model>()) \ | ||
| 68 | .def(CastVisitor<Model>()) \ | ||
| 69 | .def(PrintableVisitor<Model>()) \ | ||
| 70 | .def(CopyableVisitor<Model>()); | ||
| 71 | |||
| 72 | #define CROCODDYL_ACTIVATION_DATA_SMOOTH1NORM_PYTHON_BINDINGS(Scalar) \ | ||
| 73 | typedef ActivationDataSmooth1NormTpl<Scalar> Data; \ | ||
| 74 | typedef ActivationDataAbstractTpl<Scalar> DataBase; \ | ||
| 75 | typedef ActivationModelSmooth1NormTpl<Scalar> Model; \ | ||
| 76 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 77 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 78 | "ActivationDataSmooth1Norm", "Data for smooth-abs activation.\n\n", \ | ||
| 79 | bp::init<Model*>(bp::args("self", "model"), \ | ||
| 80 | "Create smooth-abs activation data.\n\n" \ | ||
| 81 | ":param model: smooth-abs activation model")) \ | ||
| 82 | .def(ActivationDataSmooth1NormVisitor<Data>()) \ | ||
| 83 | .def(CopyableVisitor<Data>()); | ||
| 84 | |||
| 85 | ✗ | void exposeActivationSmooth1Norm() { | |
| 86 | ✗ | CROCODDYL_ACTIVATION_MODEL_SMOOTH1NORM_PYTHON_BINDINGS(float) | |
| 87 | ✗ | CROCODDYL_ACTIVATION_DATA_SMOOTH1NORM_PYTHON_BINDINGS(float) | |
| 88 | ✗ | } | |
| 89 | |||
| 90 | } // namespace python | ||
| 91 | } // namespace crocoddyl | ||
| 92 |