proximal.hpp

//
// Copyright (c) 2019-2022 INRIA
//

#ifndef __pinocchio_python_algorithm_proximal_hpp__
#define __pinocchio_python_algorithm_proximal_hpp__

#include "pinocchio/algorithm/proximal.hpp"

#include <sstream>

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename ProximalSettings>
 struct ProximalSettingsPythonVisitor
 : public boost::python::def_visitor<ProximalSettingsPythonVisitor<ProximalSettings>>
 {
 typedef typename ProximalSettings::Scalar Scalar;

 public:
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def(bp::init<>("Default constructor.", bp::arg("self")))
 .def(bp::init<const Scalar, const Scalar, int>(
 (bp::arg("self"), bp::arg("accuracy"), bp::arg("mu"), bp::arg("max_iter")),
 "Structure containing all the settings parameters for the proximal algorithms."))
 .def(bp::init<const Scalar, const Scalar, const Scalar, int>(
 (bp::arg("self"), bp::arg("absolute_accuracy"), bp::arg("relative_accuracy"),
 bp::arg("mu"), bp::arg("max_iter")),
 "Structure containing all the settings parameters for the proximal algorithms."))

 .add_property(
 "absolute_accuracy", &ProximalSettings::absolute_accuracy,
 "Absolute proximal accuracy.")
 .add_property(
 "relative_accuracy", &ProximalSettings::relative_accuracy,
 "Relative proximal accuracy between two iterates.")
 .add_property(
 "mu", &ProximalSettings::mu, "Regularization parameter of the Proximal algorithms.")
 .add_property("max_iter", &ProximalSettings::max_iter, "Maximal number of iterations.")

 .add_property(
 "absolute_residual", &ProximalSettings::absolute_residual, "Absolute residual.")
 .add_property(
 "relative_residual", &ProximalSettings::relative_residual,
 "Relatice residual between two iterates.")

 .add_property(
 "iter", &ProximalSettings::iter,
 "Final number of iteration of the algorithm when it has converged or "
 "reached the maximal number of allowed iterations.")
 .def("__repr__", &repr);
 }

 static void expose()
 {
 bp::class_<ProximalSettings>(
 "ProximalSettings",
 "Structure containing all the settings parameters for proximal algorithms.", bp::no_init)
 .def(ProximalSettingsPythonVisitor<ProximalSettings>());
 }

 private:
 static std::string repr(const ProximalSettings & self)
 {
 std::stringstream ss_repr;

 ss_repr << "ProximalSettings(";
 ss_repr << self.absolute_accuracy << ", ";
 ss_repr << self.relative_accuracy << ", ";
 ss_repr << self.mu << ", ";
 ss_repr << self.max_iter;
 ss_repr << ")";

 return ss_repr.str();
 }
 };

 } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_algorithm_proximal_hpp__