| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 15 | 15 | 100.0% |
| Branches: | 12 | 24 | 50.0% |
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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 | 10 | void exposeSquashingSmoothSat() { | |
| 20 | 10 | bp::register_ptr_to_python<boost::shared_ptr<SquashingModelSmoothSat> >(); | |
| 21 | |||
| 22 |
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10 | bp::class_<SquashingModelSmoothSat, bp::bases<SquashingModelAbstract> >( |
| 23 | "SquashingModelSmoothSat", "Smooth Sat squashing model", | ||
| 24 |
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10 | bp::init<Eigen::VectorXd, Eigen::VectorXd, std::size_t>( |
| 25 | 20 | bp::args("self", "u_lb", "u_ub", "ns"), | |
| 26 | "Initialize the squashing model. \n\n" | ||
| 27 | ":param u_lb: output lower bound" | ||
| 28 | ":param u_ub: output upper bound" | ||
| 29 | ":param ns: dimension of the input vector")) | ||
| 30 |
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10 | .def("calc", &SquashingModelSmoothSat::calc, |
| 31 |
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20 | bp::args("self", "data", "s"), |
| 32 | "Compute the squashing value for a given value of s, " | ||
| 33 | "component-wise. \n\n" | ||
| 34 | ":param data: squashing data\n" | ||
| 35 | ":param s: control input") | ||
| 36 |
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10 | .def("calcDiff", &SquashingModelSmoothSat::calcDiff, |
| 37 |
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20 | bp::args("self", "data", "s"), |
| 38 | "Compute the derivative of the squashing function.\n\n" | ||
| 39 | ":param data: squashing data\n" | ||
| 40 | ":param s: squashing input.") | ||
| 41 |
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20 | .def("createData", &SquashingModelSmoothSat::createData, bp::args("self"), |
| 42 | "Create the squashing data.\n\n") | ||
| 43 |
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10 | .add_property("smooth", |
| 44 |
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10 | bp::make_function(&SquashingModelSmoothSat::get_smooth), |
| 45 |
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20 | bp::make_function(&SquashingModelSmoothSat::set_smooth), |
| 46 | "Smoothness parameter of the smooth sat. function") | ||
| 47 |
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10 | .def(CopyableVisitor<SquashingModelSmoothSat>()); |
| 48 | 10 | } | |
| 49 | |||
| 50 | } // namespace python | ||
| 51 | } // namespace crocoddyl | ||
| 52 |