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| Line | Branch | Exec | Source |
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#include "dynacom/dyna_com.hpp" |
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#include <pinocchio/multibody/fwd.hpp> |
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// Must be included first! |
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#include <boost/python.hpp> |
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#include <boost/python/return_internal_reference.hpp> |
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#include <boost/python/suite/indexing/vector_indexing_suite.hpp> |
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#include <eigenpy/eigenpy.hpp> |
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#include "dynacom/contact6d.hpp" |
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#include "dynacom/python.hpp" |
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namespace dynacom { |
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namespace python { |
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namespace bp = boost::python; |
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bp::dict get_settings(DynaCoM &self) { |
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bp::dict settings; |
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DynaCoMSettings conf = self.getSettings(); |
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settings["urdf"] = conf.urdf; |
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return settings; |
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} |
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1011 |
std::shared_ptr<Contact6D> getContact(DynaCoM &self, std::string name) { |
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✓✗ | 3033 |
return boost::ref(self.getContact(name)); |
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} |
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1 |
void exposeDynaCoM() { |
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1 |
bp::class_<std::vector<std::string> >("names_vector") |
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✓✗ | 1 |
.def(bp::vector_indexing_suite<std::vector<std::string> >()); |
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1 |
bp::class_<DynaCoMSettings>("DynaCoMSettings") |
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✓✗ | 1 |
.def_readwrite("urdf", &DynaCoMSettings::urdf); |
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✓✗ | 1 |
bp::class_<DynaCoM, boost::noncopyable>("DynaCoM", bp::init<>()) |
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✓✗✓✗ |
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.def("initialize", &DynaCoM::initialize, bp::args("self", "settings")) |
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.def("computeDynamics", &DynaCoM::computeDynamics, |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
3 |
(bp::arg("self"), bp::arg("posture"), bp::arg("velocity"), |
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✓✗✓✗ ✓✗ |
3 |
bp::arg("aceleration"), bp::arg("extWrench"), |
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✓✗✓✗ ✓✗✓✗ |
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bp::arg("flatHorizontalGround") = true)) |
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.def<void (DynaCoM::*)(const double &, const Eigen::VectorXd &, |
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const Eigen::VectorXd &, const Eigen::VectorXd &, |
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const Eigen::Matrix<double, 6, 1> &, |
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bool flatHorizontalGround)>( |
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"computeNL", &DynaCoM::computeNL, |
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✓✗ | 2 |
bp::args("self", "posture", "velocity", "aceleration", "extWrench", |
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2 |
"flatHorizontalGround")) |
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.def<void (DynaCoM::*)(const double &)>("computeNL", &DynaCoM::computeNL, |
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✓✗✓✗ |
2 |
bp::args("self")) |
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.def("addContact6d", &DynaCoM::addContact6d, |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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(bp::arg("self"), bp::arg("contact"), bp::arg("name"), |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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bp::arg("active") = true)) |
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.def("removeContact6d", &DynaCoM::removeContact6d, |
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✓✗✓✗ |
2 |
bp::args("self", "name")) |
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.def("activateContact6d", &DynaCoM::activateContact6d, |
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✓✗✓✗ |
2 |
bp::args("self", "name")) |
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.def("deactivateContact6d", &DynaCoM::deactivateContact6d, |
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✓✗✓✗ |
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bp::args("self", "name")) |
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.def("distributeForce", &DynaCoM::distributeForce, |
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✓✗✓✗ |
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bp::args("self", "groundCoMForce", "groundCoMTorque", "CoM")) |
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✓✗✓✗ |
2 |
.def("getContact", &getContact, bp::args("self", "name")) |
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.def("getActiveContacts", &DynaCoM::getActiveContacts, |
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bp::return_value_policy<bp::copy_const_reference>(), |
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✓✗✓✗ |
2 |
bp::args("self")) |
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✓✗✓✗ |
2 |
.def("uni_A", &DynaCoM::uni_A, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("uni_b", &DynaCoM::uni_b, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("fri_A", &DynaCoM::fri_A, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("fri_b", &DynaCoM::fri_b, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("reg_A", &DynaCoM::reg_A, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("reg_b", &DynaCoM::reg_b, bp::args("self")) |
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✓✗✓✗ |
2 |
.def("NE_A", &DynaCoM::NE_A, bp::args("self")) |
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.def("NE_b", &DynaCoM::NE_b, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("allForces", &DynaCoM::allForces, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("model", &DynaCoM::getModel, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("data", &DynaCoM::getData, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getCoM", &DynaCoM::getCoM, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getVCoM", &DynaCoM::getVCoM, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getACoM", &DynaCoM::getACoM, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getAM", &DynaCoM::getAM, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getCoP", &DynaCoM::getCoP, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getNL", &DynaCoM::getNL, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getGroundCoMForce", &DynaCoM::getGroundCoMForce, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
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bp::args("self")) |
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.def("getGroundCoMTorque", &DynaCoM::getGroundCoMTorque, |
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bp::return_value_policy<bp::reference_existing_object>(), |
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✓✗✓✗ |
1 |
bp::args("self")); |
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1 |
} |
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} // namespace python |
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} // namespace dynacom |
| Generated by: GCOVR (Version 4.2) |