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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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 double |
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#include "python/crocoddyl/core/actuation/squashing-base.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 SquashingModelAbstractVisitor |
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: public bp::def_visitor<SquashingModelAbstractVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "s"), |
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"Compute the squashing value for a given value of u, " |
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"component-wise. \n\n" |
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":param data: squashing data\n" |
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":param s: squashing input") |
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.def("calcDiff", pure_virtual(&Model::calcDiff), |
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bp::args("self", "data", "s"), |
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"Compute the derivative of the squashing function.\n\n" |
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"It assumes that calc has been run first.\n" |
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":param data: squashing data\n" |
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":param u: 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( |
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"ns", |
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bp::make_function(&Model::get_ns, |
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bp::return_value_policy<bp::return_by_value>()), |
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"dimension of the squashing vector") |
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.add_property( |
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"s_lb", |
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bp::make_function(&Model::get_s_lb, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Model::set_s_lb), |
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"lower bound for the active zone of the squashing function") |
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.add_property( |
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"s_ub", |
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bp::make_function(&Model::get_s_ub, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Model::set_s_ub), |
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"upper bound for the active zone of the squashing function"); |
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} |
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}; |
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template <typename Data> |
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struct SquashingDataAbstractVisitor |
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: public bp::def_visitor<SquashingDataAbstractVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"u", bp::make_getter(&Data::u, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::u), "squashing-output") |
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.add_property( |
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"du_ds", |
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bp::make_getter(&Data::du_ds, bp::return_internal_reference<>()), |
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bp::make_setter(&Data::du_ds), |
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"Jacobian of the squashing function"); |
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} |
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}; |
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#define CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef SquashingModelAbstractTpl<Scalar> Model; \ |
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typedef SquashingModelAbstractTpl_wrap<Scalar> Model_wrap; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model_wrap, boost::noncopyable>( \ |
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"SquashingModelAbstract", \ |
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"Abstract class for squashing functions.\n\n" \ |
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"A squashing function is any sigmoid function that maps from R to a " \ |
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"bounded domain Its input can be any value and its output will be a " \ |
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"value between a lower bound and an upper bound. The computation of " \ |
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"the output value is done using calc() while its derivative is " \ |
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"computed using calcDiff(), respectively.", \ |
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bp::init<std::size_t>(bp::args("self", "ns"), \ |
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"Initialize the squashing model.\n\n" \ |
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":param ns: dimension of the input vector")) \ |
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.def(SquashingModelAbstractVisitor<Model_wrap>()) \ |
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.def(CopyableVisitor<Model_wrap>()); |
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#define CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ |
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typedef SquashingDataAbstractTpl<Scalar> Data; \ |
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typedef SquashingModelAbstractTpl<Scalar> Model; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data>( \ |
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"SquashingDataAbstract", \ |
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"Abstract class for squashing datas.\n\n" \ |
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"In crocoddyl, an squashing data contains all the required information " \ |
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"for processing a user-defined squashing model. The squashing data is " \ |
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"typically allocated once per running via model.createData().", \ |
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bp::init<Model*>( \ |
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bp::args("self", "model"), \ |
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"Create common data shared between squashing models.\n\n" \ |
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"The squashing data uses the model in order to first process it.\n" \ |
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":param model: squashing model")) \ |
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.def(SquashingDataAbstractVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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void exposeSquashingAbstract() { |
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CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS(double) |
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CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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