| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/smooth-2norm.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 13 | 13 | 100.0% |
| Branches: | 9 | 18 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2024, 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-2norm.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 exposeActivationSmooth2Norm() { | |
| 20 | boost::python::register_ptr_to_python< | ||
| 21 | 10 | boost::shared_ptr<ActivationModelSmooth2Norm> >(); | |
| 22 | |||
| 23 |
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10 | bp::class_<ActivationModelSmooth2Norm, bp::bases<ActivationModelAbstract> >( |
| 24 | "ActivationModelSmooth2Norm", | ||
| 25 | "Smooth-2Norm activation model.\n\n" | ||
| 26 | "It describes a smooth representation of a 2-norm, i.e.\n" | ||
| 27 | "sqrt{eps + sum^nr_{i=0} ||ri||^2}, where ri is the scalar residual for " | ||
| 28 | "the i constraints,\n." | ||
| 29 | "and nr is the dimension of the residual vector.", | ||
| 30 |
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10 | bp::init<std::size_t, bp::optional<double> >( |
| 31 | 20 | bp::args("self", "nr", "eps"), | |
| 32 | "Initialize the activation model.\n\n" | ||
| 33 | ":param nr: dimension of the residual vector\n" | ||
| 34 | ":param eps: smoothing factor (default: 1.)")) | ||
| 35 |
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10 | .def("calc", &ActivationModelSmooth2Norm::calc, |
| 36 |
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20 | bp::args("self", "data", "r"), |
| 37 | "Compute the smooth-2norm function.\n\n" | ||
| 38 | ":param data: activation data\n" | ||
| 39 | ":param r: residual vector") | ||
| 40 |
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10 | .def("calcDiff", &ActivationModelSmooth2Norm::calcDiff, |
| 41 |
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20 | bp::args("self", "data", "r"), |
| 42 | "Compute the derivatives of a smooth-2norm function.\n\n" | ||
| 43 | "It assumes that calc has been run first.\n" | ||
| 44 | ":param data: activation data\n" | ||
| 45 | ":param r: residual vector \n") | ||
| 46 |
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10 | .def("createData", &ActivationModelSmooth2Norm::createData, |
| 47 |
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20 | bp::args("self"), "Create the smooth-2norm activation data.\n\n") |
| 48 |
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10 | .def(CopyableVisitor<ActivationModelSmooth2Norm>()); |
| 49 | 10 | } | |
| 50 | |||
| 51 | } // namespace python | ||
| 52 | } // namespace crocoddyl | ||
| 53 |