| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | // Auto-generated file for float | ||
| 11 | #include "python/crocoddyl/core/actuation/squashing-base.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Model> | ||
| 17 | struct SquashingModelAbstractVisitor | ||
| 18 | : public bp::def_visitor<SquashingModelAbstractVisitor<Model>> { | ||
| 19 | template <class PyClass> | ||
| 20 | ✗ | void visit(PyClass& cl) const { | |
| 21 | ✗ | cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "s"), | |
| 22 | "Compute the squashing value for a given value of u, " | ||
| 23 | "component-wise. \n\n" | ||
| 24 | ":param data: squashing data\n" | ||
| 25 | ":param s: squashing input") | ||
| 26 | ✗ | .def("calcDiff", pure_virtual(&Model::calcDiff), | |
| 27 | bp::args("self", "data", "s"), | ||
| 28 | "Compute the derivative of the squashing function.\n\n" | ||
| 29 | "It assumes that calc has been run first.\n" | ||
| 30 | ":param data: squashing data\n" | ||
| 31 | ":param u: squashing input") | ||
| 32 | ✗ | .def("createData", &Model::createData, bp::args("self"), | |
| 33 | "Create the squashing data.\n\n") | ||
| 34 | ✗ | .add_property( | |
| 35 | "ns", | ||
| 36 | bp::make_function(&Model::get_ns, | ||
| 37 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 38 | "dimension of the squashing vector") | ||
| 39 | ✗ | .add_property( | |
| 40 | "s_lb", | ||
| 41 | bp::make_function(&Model::get_s_lb, | ||
| 42 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 43 | bp::make_function(&Model::set_s_lb), | ||
| 44 | "lower bound for the active zone of the squashing function") | ||
| 45 | ✗ | .add_property( | |
| 46 | "s_ub", | ||
| 47 | bp::make_function(&Model::get_s_ub, | ||
| 48 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 49 | bp::make_function(&Model::set_s_ub), | ||
| 50 | "upper bound for the active zone of the squashing function"); | ||
| 51 | ✗ | } | |
| 52 | }; | ||
| 53 | |||
| 54 | template <typename Data> | ||
| 55 | struct SquashingDataAbstractVisitor | ||
| 56 | : public bp::def_visitor<SquashingDataAbstractVisitor<Data>> { | ||
| 57 | template <class PyClass> | ||
| 58 | ✗ | void visit(PyClass& cl) const { | |
| 59 | ✗ | cl.add_property( | |
| 60 | ✗ | "u", bp::make_getter(&Data::u, bp::return_internal_reference<>()), | |
| 61 | ✗ | bp::make_setter(&Data::u), "squashing-output") | |
| 62 | ✗ | .add_property( | |
| 63 | "du_ds", | ||
| 64 | ✗ | bp::make_getter(&Data::du_ds, bp::return_internal_reference<>()), | |
| 65 | ✗ | bp::make_setter(&Data::du_ds), | |
| 66 | "Jacobian of the squashing function"); | ||
| 67 | ✗ | } | |
| 68 | }; | ||
| 69 | |||
| 70 | #define CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 71 | typedef SquashingModelAbstractTpl<Scalar> Model; \ | ||
| 72 | typedef SquashingModelAbstractTpl_wrap<Scalar> Model_wrap; \ | ||
| 73 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 74 | bp::class_<Model_wrap, boost::noncopyable>( \ | ||
| 75 | "SquashingModelAbstract", \ | ||
| 76 | "Abstract class for squashing functions.\n\n" \ | ||
| 77 | "A squashing function is any sigmoid function that maps from R to a " \ | ||
| 78 | "bounded domain Its input can be any value and its output will be a " \ | ||
| 79 | "value between a lower bound and an upper bound. The computation of " \ | ||
| 80 | "the output value is done using calc() while its derivative is " \ | ||
| 81 | "computed using calcDiff(), respectively.", \ | ||
| 82 | bp::init<std::size_t>(bp::args("self", "ns"), \ | ||
| 83 | "Initialize the squashing model.\n\n" \ | ||
| 84 | ":param ns: dimension of the input vector")) \ | ||
| 85 | .def(SquashingModelAbstractVisitor<Model_wrap>()) \ | ||
| 86 | .def(CopyableVisitor<Model_wrap>()); | ||
| 87 | |||
| 88 | #define CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \ | ||
| 89 | typedef SquashingDataAbstractTpl<Scalar> Data; \ | ||
| 90 | typedef SquashingModelAbstractTpl<Scalar> Model; \ | ||
| 91 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 92 | bp::class_<Data>( \ | ||
| 93 | "SquashingDataAbstract", \ | ||
| 94 | "Abstract class for squashing datas.\n\n" \ | ||
| 95 | "In crocoddyl, an squashing data contains all the required information " \ | ||
| 96 | "for processing a user-defined squashing model. The squashing data is " \ | ||
| 97 | "typically allocated once per running via model.createData().", \ | ||
| 98 | bp::init<Model*>( \ | ||
| 99 | bp::args("self", "model"), \ | ||
| 100 | "Create common data shared between squashing models.\n\n" \ | ||
| 101 | "The squashing data uses the model in order to first process it.\n" \ | ||
| 102 | ":param model: squashing model")) \ | ||
| 103 | .def(SquashingDataAbstractVisitor<Data>()) \ | ||
| 104 | .def(CopyableVisitor<Data>()); | ||
| 105 | |||
| 106 | ✗ | void exposeSquashingAbstract() { | |
| 107 | ✗ | CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS(float) | |
| 108 | ✗ | CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS(float) | |
| 109 | ✗ | } | |
| 110 | |||
| 111 | } // namespace python | ||
| 112 | } // namespace crocoddyl | ||
| 113 |