| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/activations/weighted-quadratic.cpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/activations/weighted-quadratic.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/activation-base.hpp" | ||
| 13 | #include "python/crocoddyl/core/core.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace python { | ||
| 17 | |||
| 18 | template <typename Model> | ||
| 19 | struct ActivationModelWeightedQuadVisitor | ||
| 20 | : public bp::def_visitor<ActivationModelWeightedQuadVisitor<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 0.5 * ||r||_w^2.\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 a quadratic function.\n\n" | ||
| 30 | ":param data: activation data\n" | ||
| 31 | "Note that the Hessian is constant, so we don't write again this " | ||
| 32 | "value.\n" | ||
| 33 | "It assumes that calc has been run first.\n" | ||
| 34 | ":param r: residual vector \n") | ||
| 35 |
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80 | .def("createData", &Model::createData, bp::args("self"), |
| 36 | "Create the weighted quadratic action data.") | ||
| 37 |
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40 | .add_property("weights", |
| 38 | bp::make_function(&Model::get_weights, | ||
| 39 | 40 | bp::return_internal_reference<>()), | |
| 40 | &Model::set_weights, "weights of the quadratic term"); | ||
| 41 | 40 | } | |
| 42 | }; | ||
| 43 | |||
| 44 | #define CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUAD_PYTHON_BINDINGS(Scalar) \ | ||
| 45 | typedef ActivationModelWeightedQuadTpl<Scalar> Model; \ | ||
| 46 | typedef ActivationModelAbstractTpl<Scalar> ModelBase; \ | ||
| 47 | typedef typename Model::VectorXs VectorXs; \ | ||
| 48 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 49 | bp::class_<Model, bp::bases<ModelBase>>( \ | ||
| 50 | "ActivationModelWeightedQuad", \ | ||
| 51 | "Weighted quadratic activation model.\n\n" \ | ||
| 52 | "A weighted quadratic action describes a quadratic function that " \ | ||
| 53 | "depends on the residual, i.e., 0.5 *||r||_w^2.", \ | ||
| 54 | bp::init<VectorXs>( \ | ||
| 55 | bp::args("self", "weights"), \ | ||
| 56 | "Initialize the activation model.\n\n" \ | ||
| 57 | ":param weights: weights vector, note that nr=weights.size()")) \ | ||
| 58 | .def(ActivationModelWeightedQuadVisitor<Model>()) \ | ||
| 59 | .def(CastVisitor<Model>()) \ | ||
| 60 | .def(PrintableVisitor<Model>()) \ | ||
| 61 | .def(CopyableVisitor<Model>()); | ||
| 62 | |||
| 63 | 10 | void exposeActivationWeightedQuad() { | |
| 64 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 65 | CROCODDYL_ACTIVATION_MODEL_WEIGHTEDQUAD_PYTHON_BINDINGS) | ||
| 66 | 10 | } | |
| 67 | |||
| 68 | } // namespace python | ||
| 69 | } // namespace crocoddyl | ||
| 70 |