| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/weighted-quadratic-barrier.cpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct ActivationModelWeightedQuadraticBarrierVisitor | ||
| 19 | : public bp::def_visitor< | ||
| 20 | ActivationModelWeightedQuadraticBarrierVisitor<Model>> { | ||
| 21 | typedef typename Model::Scalar Scalar; | ||
| 22 | template <class PyClass> | ||
| 23 | 40 | void visit(PyClass& cl) const { | |
| 24 | 40 | cl.def("calc", &Model::calc, bp::args("self", "data", "r"), | |
| 25 | "Compute the inequality activation.\n\n" | ||
| 26 | ":param data: activation data\n" | ||
| 27 | ":param r: residual vector") | ||
| 28 |
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80 | .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "r"), |
| 29 | "Compute the derivatives of inequality activation.\n\n" | ||
| 30 | "Note that the Hessian is constant, so we don't write again this " | ||
| 31 | "value. It assumes that calc has been run first.\n" | ||
| 32 | ":param data: activation data\n" | ||
| 33 | ":param r: residual vector \n") | ||
| 34 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 35 | "Create the weighted quadratic activation data.") | ||
| 36 |
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80 | .add_property( |
| 37 | "bounds", | ||
| 38 | bp::make_function(&Model::get_bounds, | ||
| 39 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 40 | bp::make_function(&Model::set_bounds), | ||
| 41 | "bounds (beta, lower and upper bounds)") | ||
| 42 |
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80 | .add_property("weights", |
| 43 | bp::make_function(&Model::get_weights, | ||
| 44 | 40 | bp::return_internal_reference<>()), | |
| 45 | bp::make_function(&Model::set_weights), | ||
| 46 | "vector of weights"); | ||
| 47 | 40 | } | |
| 48 | }; | ||
| 49 | |||
| 50 | #define CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUADRATICBARRIER_PYTHON_BINDINGS( \ | ||
| 51 | Scalar) \ | ||
| 52 | typedef ActivationModelWeightedQuadraticBarrierTpl<Scalar> Model; \ | ||
| 53 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 54 | typedef ActivationBoundsTpl<Scalar> Bounds; \ | ||
| 55 | typedef typename Model::VectorXs VectorXs; \ | ||
| 56 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 57 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 58 | "ActivationModelWeightedQuadraticBarrier", \ | ||
| 59 | "Inequality activation model.\n\n" \ | ||
| 60 | "The activation is zero when r is between the lower (lb) and upper " \ | ||
| 61 | "(ub) bounds, beta determines how much of the total range is not " \ | ||
| 62 | "activated. This is the activation equations:\n" \ | ||
| 63 | "a(r) = 0.5 * ||r||_w^2 for lb < r < ub\n" \ | ||
| 64 | "a(r) = 0. for lb >= r >= ub,\n" \ | ||
| 65 | "where w is the vector of weights", \ | ||
| 66 | bp::init<Bounds, VectorXs>(bp::args("self", "bounds", "weights"), \ | ||
| 67 | "Initialize the activation model.\n\n" \ | ||
| 68 | ":param bounds: activation bounds\n" \ | ||
| 69 | ":param weights: weights")) \ | ||
| 70 | .def(ActivationModelWeightedQuadraticBarrierVisitor<Model>()) \ | ||
| 71 | .def(CastVisitor<Model>()) \ | ||
| 72 | .def(PrintableVisitor<Model>()) \ | ||
| 73 | .def(CopyableVisitor<Model>()); | ||
| 74 | |||
| 75 | 10 | void exposeActivationWeightedQuadraticBarrier() { | |
| 76 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 77 | CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUADRATICBARRIER_PYTHON_BINDINGS) | ||
| 78 | 10 | } | |
| 79 | |||
| 80 | } // namespace python | ||
| 81 | } // namespace crocoddyl | ||
| 82 |