GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/activations/weighted-quadratic-barrier.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 19 21 90.5%
Branches: 15 30 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/activations/weighted-quadratic-barrier.hpp"
10
11 #include "python/crocoddyl/core/activation-base.hpp"
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeActivationWeightedQuadraticBarrier() {
19 boost::python::register_ptr_to_python<
20 10 std::shared_ptr<ActivationModelWeightedQuadraticBarrier> >();
21
22
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 10 bp::class_<ActivationModelWeightedQuadraticBarrier,
23 bp::bases<ActivationModelAbstract> >(
24 "ActivationModelWeightedQuadraticBarrier",
25 "Inequality activation model.\n\n"
26 "The activation is zero when r is between the lower (lb) and upper (ub) "
27 "bounds, beta\n"
28 "determines how much of the total range is not activated. This is the "
29 "activation\n"
30 "equations:\n"
31 "a(r) = 0.5 * ||r||_w^2 for lb < r < ub\n"
32 "a(r) = 0. for lb >= r >= ub,"
33 "where w is the vector of weights",
34
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 10 bp::init<ActivationBounds, Eigen::VectorXd>(
35 20 bp::args("self", "bounds", "weights"),
36 "Initialize the activation model.\n\n"
37 ":param bounds: activation bounds\n"
38 ":param weights: weights"))
39
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 10 .def("calc", &ActivationModelWeightedQuadraticBarrier::calc,
40
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 20 bp::args("self", "data", "r"),
41 "Compute the inequality activation.\n\n"
42 ":param data: activation data\n"
43 ":param r: residual vector")
44
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 10 .def("calcDiff", &ActivationModelWeightedQuadraticBarrier::calcDiff,
45
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 20 bp::args("self", "data", "r"),
46 "Compute the derivatives of inequality activation.\n\n"
47 ":param data: activation data\n"
48 "Note that the Hessian is constant, so we don't write again this "
49 "value.\n"
50 "It assumes that calc has been run first.\n"
51 ":param r: residual vector \n")
52
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 10 .def("createData", &ActivationModelWeightedQuadraticBarrier::createData,
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 20 bp::args("self"), "Create the weighted quadratic action data.")
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 10 .add_property("bounds",
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 10 bp::make_function(
56 &ActivationModelWeightedQuadraticBarrier::get_bounds,
57 ✗ bp::return_value_policy<bp::return_by_value>()),
58
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 20 bp::make_function(
59 &ActivationModelWeightedQuadraticBarrier::set_bounds),
60 "bounds (beta, lower and upper bounds)")
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 10 .add_property("weights",
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 10 bp::make_function(
63 &ActivationModelWeightedQuadraticBarrier::get_weights,
64 ✗ bp::return_internal_reference<>()),
65
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 20 bp::make_function(
66 &ActivationModelWeightedQuadraticBarrier::set_weights),
67 "vector of weights")
68
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 10 .def(CopyableVisitor<ActivationModelWeightedQuadraticBarrier>());
69 10 }
70
71 } // namespace python
72 } // namespace crocoddyl
73