#include #include #include "cddp_core/options.hpp" #include "cddp_core/cddp_core.hpp" namespace py = pybind11; void bind_options(py::module_& m) { // BarrierStrategy enum py::enum_<:barrierstrategy>(m, "BarrierStrategy") .value("ADAPTIVE", cddp::BarrierStrategy::ADAPTIVE) .value("MONOTONIC", cddp::BarrierStrategy::MONOTONIC) .value("IPOPT", cddp::BarrierStrategy::IPOPT); // SolverType enum py::enum_<:solvertype>(m, "SolverType") .value("CLDDP", cddp::SolverType::CLDDP) .value("LogDDP", cddp::SolverType::LogDDP) .value("IPDDP", cddp::SolverType::IPDDP) .value("MSIPDDP", cddp::SolverType::MSIPDDP); // BoxQPOptions py::class_<:boxqpoptions>(m, "BoxQPOptions") .def(py::init<>()) .def_readwrite("max_iterations", &cddp::BoxQPOptions::max_iterations) .def_readwrite("min_gradient_norm", &cddp::BoxQPOptions::min_gradient_norm) .def_readwrite("min_relative_improvement", &cddp::BoxQPOptions::min_relative_improvement) .def_readwrite("step_decrease_factor", &cddp::BoxQPOptions::step_decrease_factor) .def_readwrite("min_step_size", &cddp::BoxQPOptions::min_step_size) .def_readwrite("armijo_constant", &cddp::BoxQPOptions::armijo_constant) .def_readwrite("verbose", &cddp::BoxQPOptions::verbose); // LineSearchOptions py::class_<:linesearchoptions>(m, "LineSearchOptions") .def(py::init<>()) .def_readwrite("max_iterations", &cddp::LineSearchOptions::max_iterations) .def_readwrite("initial_step_size", &cddp::LineSearchOptions::initial_step_size) .def_readwrite("min_step_size", &cddp::LineSearchOptions::min_step_size) .def_readwrite("step_reduction_factor", &cddp::LineSearchOptions::step_reduction_factor); // RegularizationOptions py::class_<:regularizationoptions>(m, "RegularizationOptions") .def(py::init<>()) .def_readwrite("initial_value", &cddp::RegularizationOptions::initial_value) .def_readwrite("update_factor", &cddp::RegularizationOptions::update_factor) .def_readwrite("max_value", &cddp::RegularizationOptions::max_value) .def_readwrite("min_value", &cddp::RegularizationOptions::min_value) .def_readwrite("step_initial_value", &cddp::RegularizationOptions::step_initial_value); // SolverSpecificBarrierOptions py::class_<:solverspecificbarrieroptions>(m, "BarrierOptions") .def(py::init<>()) .def_readwrite("mu_initial", &cddp::SolverSpecificBarrierOptions::mu_initial) .def_readwrite("mu_min_value", &cddp::SolverSpecificBarrierOptions::mu_min_value) .def_readwrite("mu_update_factor", &cddp::SolverSpecificBarrierOptions::mu_update_factor) .def_readwrite("mu_update_power", &cddp::SolverSpecificBarrierOptions::mu_update_power) .def_readwrite("min_fraction_to_boundary", &cddp::SolverSpecificBarrierOptions::min_fraction_to_boundary) .def_readwrite("strategy", &cddp::SolverSpecificBarrierOptions::strategy); // SolverSpecificFilterOptions py::class_<:solverspecificfilteroptions>(m, "FilterOptions") .def(py::init<>()) .def_readwrite("merit_acceptance_threshold", &cddp::SolverSpecificFilterOptions::merit_acceptance_threshold) .def_readwrite("violation_acceptance_threshold", &cddp::SolverSpecificFilterOptions::violation_acceptance_threshold) .def_readwrite("max_violation_threshold", &cddp::SolverSpecificFilterOptions::max_violation_threshold) .def_readwrite("min_violation_for_armijo_check", &cddp::SolverSpecificFilterOptions::min_violation_for_armijo_check) .def_readwrite("armijo_constant", &cddp::SolverSpecificFilterOptions::armijo_constant); // InteriorPointOptions py::class_<:interiorpointoptions>(m, "InteriorPointOptions") .def(py::init<>()) .def_readwrite("dual_var_init_scale", &cddp::InteriorPointOptions::dual_var_init_scale) .def_readwrite("slack_var_init_scale", &cddp::InteriorPointOptions::slack_var_init_scale) .def_readwrite("barrier", &cddp::InteriorPointOptions::barrier); // LogBarrierOptions exposed as a flat Python binding; single-shooting only. py::class_<:logbarrieroptions>(m, "LogBarrierOptions") .def(py::init<>()) .def_readwrite("use_relaxed_log_barrier_penalty", &cddp::LogBarrierOptions::use_relaxed_log_barrier_penalty) .def_readwrite("relaxed_log_barrier_delta", &cddp::LogBarrierOptions::relaxed_log_barrier_delta) .def_readwrite("barrier", &cddp::LogBarrierOptions::barrier); // IPDDPAlgorithmOptions exposed as a flat Python binding. py::class_<:ipddpalgorithmoptions>(m, "IPDDPOptions") .def(py::init<>()) .def_readwrite("dual_var_init_scale", &cddp::IPDDPAlgorithmOptions::dual_var_init_scale) .def_readwrite("slack_var_init_scale", &cddp::IPDDPAlgorithmOptions::slack_var_init_scale) .def_readwrite("barrier", &cddp::IPDDPAlgorithmOptions::barrier); // MSIPDDPAlgorithmOptions exposed as a flat Python binding. py::class_<:msipddpalgorithmoptions>(m, "MSIPDDPOptions") .def(py::init<>()) .def_readwrite("dual_var_init_scale", &cddp::MSIPDDPAlgorithmOptions::dual_var_init_scale) .def_readwrite("slack_var_init_scale", &cddp::MSIPDDPAlgorithmOptions::slack_var_init_scale) .def_readwrite("barrier", &cddp::MSIPDDPAlgorithmOptions::barrier) .def_readwrite("segment_length", &cddp::MSIPDDPAlgorithmOptions::segment_length) .def_readwrite("rollout_type", &cddp::MSIPDDPAlgorithmOptions::rollout_type) .def_readwrite("use_controlled_rollout", &cddp::MSIPDDPAlgorithmOptions::use_controlled_rollout) .def_readwrite("costate_var_init_scale", &cddp::MSIPDDPAlgorithmOptions::costate_var_init_scale); // CDDPOptions py::class_<:cddpoptions>(m, "CDDPOptions") .def(py::init<>()) .def_readwrite("tolerance", &cddp::CDDPOptions::tolerance) .def_readwrite("acceptable_tolerance", &cddp::CDDPOptions::acceptable_tolerance) .def_readwrite("max_iterations", &cddp::CDDPOptions::max_iterations) .def_readwrite("max_cpu_time", &cddp::CDDPOptions::max_cpu_time) .def_readwrite("verbose", &cddp::CDDPOptions::verbose) .def_readwrite("debug", &cddp::CDDPOptions::debug) .def_readwrite("print_solver_header", &cddp::CDDPOptions::print_solver_header) .def_readwrite("print_solver_options", &cddp::CDDPOptions::print_solver_options) .def_readwrite("use_ilqr", &cddp::CDDPOptions::use_ilqr) .def_readwrite("enable_parallel", &cddp::CDDPOptions::enable_parallel) .def_readwrite("num_threads", &cddp::CDDPOptions::num_threads) .def_readwrite("return_iteration_info", &cddp::CDDPOptions::return_iteration_info) .def_readwrite("warm_start", &cddp::CDDPOptions::warm_start) .def_readwrite("termination_scaling_max_factor", &cddp::CDDPOptions::termination_scaling_max_factor) .def_readwrite("line_search", &cddp::CDDPOptions::line_search) .def_readwrite("regularization", &cddp::CDDPOptions::regularization) .def_readwrite("box_qp", &cddp::CDDPOptions::box_qp) .def_readwrite("filter", &cddp::CDDPOptions::filter) .def_readwrite("log_barrier", &cddp::CDDPOptions::log_barrier) .def_readwrite("ipddp", &cddp::CDDPOptions::ipddp) .def_readwrite("msipddp", &cddp::CDDPOptions::msipddp); }