GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/activations/smooth-1norm.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 21 21 100.0%
Branches: 14 28 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, 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/smooth-1norm.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 exposeActivationSmooth1Norm() {
20 boost::python::register_ptr_to_python<
21 10 boost::shared_ptr<ActivationModelSmooth1Norm> >();
22
23
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 10 bp::class_<ActivationModelSmooth1Norm, bp::bases<ActivationModelAbstract> >(
24 "ActivationModelSmooth1Norm",
25 "Smooth-absolute activation model.\n\n"
26 "It describes a smooth representation of an absolute activation "
27 "(1-norm), i.e.\n"
28 "sum^nr_{i=0} sqrt{eps + ||ri||^2}, where ri is the scalar residual for "
29 "the i constraints,\n."
30 "and nr is the dimension of the residual vector.",
31
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 10 bp::init<std::size_t, bp::optional<double> >(
32 20 bp::args("self", "nr", "eps"),
33 "Initialize the activation model.\n\n"
34 ":param nr: dimension of the residual vector\n"
35 ":param eps: smoothing factor (default: 1.)"))
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 10 .def("calc", &ActivationModelSmooth1Norm::calc,
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 20 bp::args("self", "data", "r"),
38 "Compute the smooth-abs function.\n\n"
39 ":param data: activation data\n"
40 ":param r: residual vector")
41
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 10 .def("calcDiff", &ActivationModelSmooth1Norm::calcDiff,
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 20 bp::args("self", "data", "r"),
43 "Compute the derivatives of a smooth-abs function.\n\n"
44 "It assumes that calc has been run first.\n"
45 ":param data: activation data\n"
46 ":param r: residual vector \n")
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 10 .def("createData", &ActivationModelSmooth1Norm::createData,
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 20 bp::args("self"), "Create the smooth-abs activation data.\n\n")
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 10 .def(CopyableVisitor<ActivationModelSmooth1Norm>());
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51 10 bp::register_ptr_to_python<boost::shared_ptr<ActivationDataSmooth1Norm> >();
52
53
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 10 bp::class_<ActivationDataSmooth1Norm, bp::bases<ActivationDataAbstract> >(
54 "ActivationDataSmooth1Norm", "Data for smooth-abs activation.\n\n",
55
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 10 bp::init<ActivationModelSmooth1Norm*>(
56 20 bp::args("self", "model"),
57 "Create smooth-abs activation data.\n\n"
58 ":param model: smooth-abs activation model"))
59
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 10 .add_property("a",
60
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 10 bp::make_getter(&ActivationDataSmooth1Norm::a,
61 10 bp::return_internal_reference<>()),
62 "sqrt{eps + ||ri||^2} value")
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 10 .def(CopyableVisitor<ActivationDataSmooth1Norm>());
64 10 }
65
66 } // namespace python
67 } // namespace crocoddyl
68