From 24e1ee952780ec014e2a76ba4136f251b1c95768 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Sat, 7 Sep 2019 12:40:20 +0200
Subject: [PATCH] [python] Added logger callback
---
bindings/python/crocoddyl/__init__.py | 31 ++++++++++++++++++++++++++-
1 file changed, 30 insertions(+), 1 deletion(-)
diff --git a/bindings/python/crocoddyl/__init__.py b/bindings/python/crocoddyl/__init__.py
index 42e6c2bb..908fcad3 100644
--- a/bindings/python/crocoddyl/__init__.py
+++ b/bindings/python/crocoddyl/__init__.py
@@ -50,4 +50,33 @@ class CallbackSolverDisplay(libcrocoddyl_pywrap.CallbackAbstract):
if (solver.iter + 1) % self.freq:
return
dt = solver.models()[0].dt
- displayTrajectory(self.robotwrapper, solver.xs, dt, self.rate, self.cameraTF)
\ No newline at end of file
+ displayTrajectory(self.robotwrapper, solver.xs, dt, self.rate, self.cameraTF)
+
+
+class CallbackSolverLogger(libcrocoddyl_pywrap.CallbackAbstract):
+ def __init__(self):
+ libcrocoddyl_pywrap.CallbackAbstract.__init__(self)
+ self.steps = []
+ self.iters = []
+ self.costs = []
+ self.control_regs = []
+ self.state_regs = []
+ self.th_stops = []
+ self.gm_stops = []
+ self.xs = []
+ self.us = []
+ self.gaps = []
+
+ def __call__(self, solver):
+ import copy
+ import numpy as np
+ self.xs = copy.copy(solver.xs)
+ self.us = copy.copy(solver.us)
+ self.steps.append(solver.stepLength)
+ self.iters.append(solver.iter)
+ self.costs.append(solver.cost)
+ self.control_regs.append(solver.u_reg)
+ self.state_regs.append(solver.x_reg)
+ self.th_stops.append(solver.stoppingCriteria)
+ self.gm_stops.append(-np.asscalar(solver.expectedImprovement()[1]))
+ self.gaps.append(copy.copy(solver.gaps))
\ No newline at end of file
--
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