expose-callbacks.cpp

Go to the documentation of this file.

 
#include "aligator/python/callbacks.hpp"
#include "aligator/helpers/history-callback.hpp"
 
namespace aligator {
namespace python {
 
using context::Scalar;
 
void exposeHistoryCallback() {
  using HistoryCallback = HistoryCallbackTpl<Scalar>;
  using history_storage_t = decltype(HistoryCallback::storage);
 
  bp::scope in_history =
      bp::class_<HistoryCallback, bp::bases<CallbackBase>>(
          "HistoryCallback", "Store the history of solver's variables.",
          bp::init<bool, bool, bool>((bp::arg("self"),
                                      bp::arg("store_pd_vars") = true,
                                      bp::arg("store_values") = true,
                                      bp::arg("store_residuals") = true)))
          .def_readonly("storage", &HistoryCallback::storage);
 
  bp::class_<history_storage_t>("history_storage")
      .def_readonly("xs", &history_storage_t::xs)
      .def_readonly("us", &history_storage_t::us)
      .def_readonly("lams", &history_storage_t::lams)
      .def_readonly("values", &history_storage_t::values)
      .def_readonly("merit_values", &history_storage_t::merit_values)
      .def_readonly("prim_infeas", &history_storage_t::prim_infeas)
      .def_readonly("dual_infeas", &history_storage_t::dual_infeas)
      .def_readonly("al_iters", &history_storage_t::al_index)
      .def_readonly("prim_tols", &history_storage_t::prim_tols)
      .def_readonly("dual_tols", &history_storage_t::dual_tols);
}
 
void exposeCallbacks() {
  bp::register_ptr_to_python<shared_ptr<CallbackBase>>();
 
  bp::class_<CallbackWrapper, boost::noncopyable>("BaseCallback",
                                                  "Base callback for solvers.",
                                                  bp::init<>(bp::args("self")))
      .def("call", bp::pure_virtual(&CallbackWrapper::call),
           bp::args("self", "workspace", "results"));
 
  exposeHistoryCallback();
}
} // namespace python
} // namespace aligator