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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for float |
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#include "crocoddyl/core/actuation/squashing/smooth-sat.hpp" |
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#include "python/crocoddyl/core/actuation/squashing-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Model> |
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struct SquashingSmoothSatVisitor |
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: public bp::def_visitor<SquashingSmoothSatVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", &Model::calc, bp::args("self", "data", "s"), |
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"Compute the squashing value for a given value of s, " |
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"component-wise. \n\n" |
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":param data: squashing data\n" |
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":param s: control input") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "s"), |
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"Compute the derivative of the squashing function.\n\n" |
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":param data: squashing data\n" |
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":param s: squashing input.") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the squashing data.\n\n") |
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.add_property("smooth", bp::make_function(&Model::get_smooth), |
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bp::make_function(&Model::set_smooth), |
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"Smoothness parameter of the smooth sat. function"); |
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} |
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}; |
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#define CROCODDYL_SQUASHING_SMOOTH_SAT_PYTHON_BINDINGS(Scalar) \ |
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typedef SquashingModelSmoothSatTpl<Scalar> Model; \ |
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typedef SquashingModelAbstractTpl<Scalar> ModelBase; \ |
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typedef Model::VectorXs VectorXs; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model, bp::bases<ModelBase>>( \ |
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"SquashingModelSmoothSat", "Smooth Sat squashing model", \ |
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bp::init<VectorXs, VectorXs, std::size_t>( \ |
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bp::args("self", "u_lb", "u_ub", "ns"), \ |
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"Initialize the squashing model.\n\n" \ |
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":param u_lb: output lower bound\n" \ |
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":param u_ub: output upper bound\n" \ |
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":param ns: dimension of the input vector")) \ |
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.def(SquashingSmoothSatVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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void exposeSquashingSmoothSat() { |
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CROCODDYL_SQUASHING_SMOOTH_SAT_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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