GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/activations/smooth-1norm.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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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 #include "crocoddyl/core/activations/smooth-1norm.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 ActivationModelSmooth1NormVisitor
20 : public bp::def_visitor<ActivationModelSmooth1NormVisitor<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 smooth-abs function.\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 smooth-abs function.\n\n"
30 "It assumes that calc has been run first.\n"
31 ":param data: activation data\n"
32 ":param r: residual vector \n")
33
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 40 .def("createData", &Model::createData, bp::args("self"),
34 "Create the smooth-abs activation data.\n\n");
35 40 }
36 };
37
38 template <typename Data>
39 struct ActivationDataSmooth1NormVisitor
40 : public bp::def_visitor<ActivationDataSmooth1NormVisitor<Data>> {
41 typedef typename Data::Scalar Scalar;
42 template <class PyClass>
43 40 void visit(PyClass& cl) const {
44
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 40 cl.add_property(
45 40 "a", bp::make_getter(&Data::a, bp::return_internal_reference<>()),
46 "sqrt{eps + ||ri||^2} value");
47 40 }
48 };
49
50 #define CROCODDYL_ACTIVATION_MODEL_SMOOTH1NORM_PYTHON_BINDINGS(Scalar) \
51 typedef ActivationModelSmooth1NormTpl<Scalar> Model; \
52 typedef ActivationModelAbstractTpl<Scalar> ModelBase; \
53 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
54 bp::class_<Model, bp::bases<ModelBase>>( \
55 "ActivationModelSmooth1Norm", \
56 "Smooth-absolute activation model.\n\n" \
57 "It describes a smooth representation of an absolute activation " \
58 "(1-norm), i.e., sum^nr_{i=0} sqrt{eps + ||ri||^2}, where ri is the " \
59 "scalar residual for the i constraints, and nr is the dimension of the " \
60 "residual vector.", \
61 bp::init<std::size_t, bp::optional<Scalar>>( \
62 bp::args("self", "nr", "eps"), \
63 "Initialize the activation model.\n\n" \
64 ":param nr: dimension of the residual vector\n" \
65 ":param eps: smoothing factor (default: 1.)")) \
66 .def(ActivationModelSmooth1NormVisitor<Model>()) \
67 .def(CastVisitor<Model>()) \
68 .def(PrintableVisitor<Model>()) \
69 .def(CopyableVisitor<Model>());
70
71 #define CROCODDYL_ACTIVATION_DATA_SMOOTH1NORM_PYTHON_BINDINGS(Scalar) \
72 typedef ActivationDataSmooth1NormTpl<Scalar> Data; \
73 typedef ActivationDataAbstractTpl<Scalar> DataBase; \
74 typedef ActivationModelSmooth1NormTpl<Scalar> Model; \
75 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
76 bp::class_<Data, bp::bases<DataBase>>( \
77 "ActivationDataSmooth1Norm", "Data for smooth-abs activation.\n\n", \
78 bp::init<Model*>(bp::args("self", "model"), \
79 "Create smooth-abs activation data.\n\n" \
80 ":param model: smooth-abs activation model")) \
81 .def(ActivationDataSmooth1NormVisitor<Data>()) \
82 .def(CopyableVisitor<Data>());
83
84 10 void exposeActivationSmooth1Norm() {
85
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 20 CROCODDYL_PYTHON_SCALARS(
86 CROCODDYL_ACTIVATION_MODEL_SMOOTH1NORM_PYTHON_BINDINGS)
87
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 20 CROCODDYL_PYTHON_SCALARS(
88 CROCODDYL_ACTIVATION_DATA_SMOOTH1NORM_PYTHON_BINDINGS)
89 10 }
90
91 } // namespace python
92 } // namespace crocoddyl
93