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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, 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 "crocoddyl/core/activations/weighted-quadratic-barrier.hpp" |
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#include "python/crocoddyl/core/activation-base.hpp" |
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#include "python/crocoddyl/core/core.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 ActivationModelWeightedQuadraticBarrierVisitor |
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: public bp::def_visitor< |
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ActivationModelWeightedQuadraticBarrierVisitor<Model>> { |
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typedef typename Model::Scalar Scalar; |
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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", "r"), |
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"Compute the inequality activation.\n\n" |
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":param data: activation data\n" |
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":param r: residual vector") |
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.def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
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"Compute the derivatives of inequality activation.\n\n" |
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"Note that the Hessian is constant, so we don't write again this " |
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"value. It assumes that calc has been run first.\n" |
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":param data: activation data\n" |
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":param r: residual vector \n") |
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.def("createData", &Model::createData, bp::args("self"), |
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"Create the weighted quadratic activation data.") |
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.add_property( |
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"bounds", |
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bp::make_function(&Model::get_bounds, |
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bp::return_value_policy<bp::return_by_value>()), |
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bp::make_function(&Model::set_bounds), |
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"bounds (beta, lower and upper bounds)") |
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.add_property("weights", |
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bp::make_function(&Model::get_weights, |
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bp::return_internal_reference<>()), |
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bp::make_function(&Model::set_weights), |
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"vector of weights"); |
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} |
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}; |
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#define CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUADRATICBARRIER_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef ActivationModelWeightedQuadraticBarrierTpl<Scalar> Model; \ |
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typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ |
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typedef ActivationBoundsTpl<Scalar> Bounds; \ |
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typedef typename 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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"ActivationModelWeightedQuadraticBarrier", \ |
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"Inequality activation model.\n\n" \ |
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"The activation is zero when r is between the lower (lb) and upper " \ |
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"(ub) bounds, beta determines how much of the total range is not " \ |
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"activated. This is the activation equations:\n" \ |
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"a(r) = 0.5 * ||r||_w^2 for lb < r < ub\n" \ |
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"a(r) = 0. for lb >= r >= ub,\n" \ |
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"where w is the vector of weights", \ |
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bp::init<Bounds, VectorXs>(bp::args("self", "bounds", "weights"), \ |
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"Initialize the activation model.\n\n" \ |
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":param bounds: activation bounds\n" \ |
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":param weights: weights")) \ |
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.def(ActivationModelWeightedQuadraticBarrierVisitor<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 exposeActivationWeightedQuadraticBarrier() { |
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CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUADRATICBARRIER_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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