expose-cost-ops.cpp

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#include "aligator/modelling/costs/cost-direct-sum.hpp"
#include "aligator/python/fwd.hpp"
 
namespace aligator {
namespace python {
 
using context::CostAbstract;
using context::Manifold;
using context::Scalar;
using DirectSumCost = DirectSumCostTpl<Scalar>;
using PolyCost = xyz::polymorphic<CostAbstract>;
 
void exposeCostOps() {
  bp::class_<DirectSumCost, bp::bases<CostAbstract>>("DirectSumCost",
                                                     bp::no_init)
      .def(bp::init<xyz::polymorphic<CostAbstract>,
                    xyz::polymorphic<CostAbstract>>(
          bp::args("self", "cost1", "cost2")))
      .def_readonly("cost1", &DirectSumCost::c1_)
      .def_readonly("cost2", &DirectSumCost::c2_)
      .def(PolymorphicVisitor<PolyCost>());
 
  bp::class_<DirectSumCost::Data, bp::bases<context::CostData>>(
      "DirectSumCostData", bp::no_init)
      .def_readonly("data1", &DirectSumCost::Data::data1_)
      .def_readonly("data2", &DirectSumCost::Data::data2_);
 
  bp::def("directSum", directSum<Scalar>, bp::args("cost1", "cost2"),
          "Perform the direct sum of two cost functions, :math:`l_3(x,u) = "
          "l_1(x_1,u_1) + l_2(x_2,u_2)`");
}
 
} // namespace python
} // namespace aligator