expose-autodiff.cpp

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#include "aligator/python/fwd.hpp"
 
#include "aligator/modelling/autodiff/finite-difference.hpp"
#include "aligator/modelling/autodiff/cost-finite-difference.hpp"
 
namespace aligator {
namespace python {

void exposeAutodiff() {
  using namespace autodiff;
  using context::CostAbstract;
  using context::CostData;
  using context::ExplicitDynamics;
  using context::ExplicitDynamicsData;
  using context::Manifold;
  using context::Scalar;
  using context::StageFunction;
  using context::StageFunctionData;
 
  {
    using FiniteDiffType = FiniteDifferenceHelper<Scalar>;
    bp::scope _ = bp::class_<FiniteDiffType, bp::bases<StageFunction>>(
        "FiniteDifferenceHelper",
        "Make a function into a differentiable function/dynamics using"
        " finite differences.",
        bp::init<xyz::polymorphic<Manifold>, xyz::polymorphic<StageFunction>,
                 const Scalar>(("self"_a, "space", "func", "eps")));
    bp::class_<FiniteDiffType::Data, bp::bases<StageFunctionData>>("Data",
                                                                   bp::no_init);
  }
 
  {
    using DynFiniteDiffType = DynamicsFiniteDifferenceHelper<Scalar>;
    bp::scope _ = bp::class_<DynFiniteDiffType, bp::bases<ExplicitDynamics>>(
        "DynamicsFiniteDifferenceHelper",
        bp::init<xyz::polymorphic<Manifold>, xyz::polymorphic<ExplicitDynamics>,
                 const Scalar>(("self"_a, "space", "dyn", "eps")));
    bp::class_<DynFiniteDiffType::Data, bp::bases<ExplicitDynamicsData>>(
        "Data", bp::no_init);
  }
 
  {
    using CostFiniteDiffType = CostFiniteDifferenceHelper<Scalar>;
    bp::scope _ =
        bp::class_<CostFiniteDiffType, bp::bases<CostAbstract>>(
            "CostFiniteDifference",
            "Define a cost function's derivatives using finite differences.",
            bp::no_init)
            .def(bp::init<xyz::polymorphic<CostAbstract>, Scalar>(
                ("self"_a, "cost", "fd_eps")));
    bp::class_<CostFiniteDiffType::Data, bp::bases<CostData>>("Data",
                                                              bp::no_init)
        .def_readonly("c1", &CostFiniteDiffType::Data::c1)
        .def_readonly("c2", &CostFiniteDiffType::Data::c2);
  }
}
 
} // namespace python
} // namespace aligator