expose-filter.cpp

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#include "aligator/python/fwd.hpp"
 
#include "aligator/core/filter.hpp"
#include <eigenpy/std-pair.hpp>
 
namespace aligator {
namespace python {
 
void exposeFilter() {
  using Filter = FilterTpl<double>;
 
  eigenpy::StdPairConverter<std::pair<double, double>>::registration();
  StdVectorPythonVisitor<std::vector<std::pair<double, double>>, true>::expose(
      "StdVec_StdPair_double");
 
  bp::register_ptr_to_python<shared_ptr<Filter>>();
  bp::class_<Filter>("Filter",
                     "A pair filter implementation to help make larger steps "
                     "during optimization.",
                     bp::init<double, double, std::size_t>(bp::args(
                         "self", "beta", "alpha_min", "max_num_steps")))
      .def("resetFilter", &Filter::resetFilter,
           bp::args("self", "beta", "alpha_min", "max_num_steps"),
           "Reset the filter parameters.")
      .def("run", &Filter::run, bp::args("self", "phi", "alpha_try"),
           "Make a step and add pair if step accepted.")
      .def("accept_pair", &Filter::accept_pair, bp::args("self", "fpair"),
           "Pair acceptance function.")
      .def_readwrite("beta", &Filter::beta_,
                     "Distance parameter with other pairs in filter.")
      .def_readwrite("alpha_min", &Filter::alpha_min_, "Minimum alpha step.")
      .def_readonly("filter_pairs_", &Filter::filter_pairs_,
                    "Filter pairs vector.");
}
 
} // namespace python
} // namespace aligator