| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 9 | 9 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/actuation/squashing/smooth-sat.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/actuation/squashing-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 | template <typename Model> | ||
| 20 | struct SquashingSmoothSatVisitor | ||
| 21 | : public bp::def_visitor<SquashingSmoothSatVisitor<Model>> { | ||
| 22 | template <class PyClass> | ||
| 23 | 40 | void visit(PyClass& cl) const { | |
| 24 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "s"), | |
| 25 | "Compute the squashing value for a given value of s, " | ||
| 26 | "component-wise. \n\n" | ||
| 27 | ":param data: squashing data\n" | ||
| 28 | ":param s: control input") | ||
| 29 |
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80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "s"), |
| 30 | "Compute the derivative of the squashing function.\n\n" | ||
| 31 | ":param data: squashing data\n" | ||
| 32 | ":param s: squashing input.") | ||
| 33 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 34 | "Create the squashing data.\n\n") | ||
| 35 |
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40 | .add_property("smooth", bp::make_function(&Model::get_smooth), |
| 36 | bp::make_function(&Model::set_smooth), | ||
| 37 | "Smoothness parameter of the smooth sat. function"); | ||
| 38 | 40 | } | |
| 39 | }; | ||
| 40 | |||
| 41 | #define CROCODDYL_SQUASHING_SMOOTH_SAT_PYTHON_BINDINGS(Scalar) \ | ||
| 42 | typedef SquashingModelSmoothSatTpl<Scalar> Model; \ | ||
| 43 | typedef SquashingModelAbstractTpl<Scalar> ModelBase; \ | ||
| 44 | typedef Model::VectorXs VectorXs; \ | ||
| 45 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 46 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 47 | "SquashingModelSmoothSat", "Smooth Sat squashing model", \ | ||
| 48 | bp::init<VectorXs, VectorXs, std::size_t>( \ | ||
| 49 | bp::args("self", "u_lb", "u_ub", "ns"), \ | ||
| 50 | "Initialize the squashing model.\n\n" \ | ||
| 51 | ":param u_lb: output lower bound\n" \ | ||
| 52 | ":param u_ub: output upper bound\n" \ | ||
| 53 | ":param ns: dimension of the input vector")) \ | ||
| 54 | .def(SquashingSmoothSatVisitor<Model>()) \ | ||
| 55 | .def(CastVisitor<Model>()) \ | ||
| 56 | .def(PrintableVisitor<Model>()) \ | ||
| 57 | .def(CopyableVisitor<Model>()); | ||
| 58 | |||
| 59 | 10 | void exposeSquashingSmoothSat() { | |
| 60 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_SQUASHING_SMOOTH_SAT_PYTHON_BINDINGS) |
| 61 | 10 | } | |
| 62 | |||
| 63 | } // namespace python | ||
| 64 | } // namespace crocoddyl | ||
| 65 |