GCC Code Coverage Report

Directory: ./
File: python/bezier_com_traj.cpp
Date: 2025-05-18 04:15:09
Exec Total Coverage
Lines: 190 287 66.2%
Functions: 39 63 61.9%
Branches: 117 330 35.5%
Line Branch Exec Source
1 #include <boost/python.hpp>
2 #include <boost/python/exception_translator.hpp>
3 #include <eigenpy/eigenpy.hpp>
4 #include <eigenpy/memory.hpp>
5 #include <hpp/bezier-com-traj/solve.hh>
6 #include <hpp/bezier-com-traj/solve_end_effector.hh>
7 #include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
8
9 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_com_traj::ContactData)
10 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_com_traj::ProblemData)
11 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_com_traj::ResultData)
12 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(
13 bezier_com_traj::ResultDataCOMTraj)
14 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_com_traj::bezier_t)
15
16 namespace bezier_com_traj {
17 using namespace boost::python;
18 typedef double real;
19
20 1 ResultDataCOMTraj* zeroStepCapturability(centroidal_dynamics::Equilibrium* eq,
21 const Vector3& com,
22 const Vector3& dCom, const Vector3& l0,
23 const bool useAngMomentum,
24 const double timeDuration,
25 const double timeStep) {
26
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 1 bezier_com_traj::ContactData data;
27 1 data.contactPhase_ = eq;
28
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 1 bezier_com_traj::ProblemData pData;
29
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 1 pData.c0_ = com;
30
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 1 pData.dc0_ = dCom;
31
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 1 pData.l0_ = l0;
32
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 1 pData.contacts_.push_back(data);
33 1 pData.useAngularMomentum_ = useAngMomentum;
34 1 std::vector<double> Ts;
35
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 1 Ts.push_back(timeDuration);
36
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 1 ResultDataCOMTraj res = solve0step(pData, Ts, timeStep);
37
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 2 return new ResultDataCOMTraj(res);
38 1 }
39
40 ✗ ResultDataCOMTraj* zeroStepCapturabilityWithKinConstraints(
41 centroidal_dynamics::Equilibrium* eq, const Vector3& com,
42 const Vector3& dCom, const Vector3& l0, const bool useAngMomentum,
43 const double timeDuration, const double timeStep, const MatrixXX& Kin,
44 const MatrixXX& kin) {
45 ✗ bezier_com_traj::ContactData data;
46 ✗ data.Kin_ = Kin;
47 ✗ data.kin_ = kin;
48 ✗ data.contactPhase_ = eq;
49 ✗ bezier_com_traj::ProblemData pData;
50 ✗ pData.c0_ = com;
51 ✗ pData.dc0_ = dCom;
52 ✗ pData.l0_ = l0;
53 ✗ pData.contacts_.push_back(data);
54 ✗ pData.useAngularMomentum_ = useAngMomentum;
55 ✗ std::vector<double> Ts;
56 ✗ Ts.push_back(timeDuration);
57 ✗ ResultDataCOMTraj res = solve0step(pData, Ts, timeStep);
58 ✗ return new ResultDataCOMTraj(res);
59 ✗ }
60
61 struct res_data_exception : std::exception {
62 ✗ char const* what() const throw() {
63 ✗ return "attributes not accessible for false resData";
64 }
65 };
66
67 ✗ void translate(const res_data_exception& e) {
68 // Use the Python 'C' API to set up an exception object
69 ✗ PyErr_SetString(PyExc_RuntimeError, e.what());
70 ✗ }
71
72 struct contact_data_exception : std::exception {
73 4 char const* what() const throw() {
74 4 return "attribute not defined yet for ContactData";
75 }
76 };
77
78 4 void translateContactData(const contact_data_exception& e) {
79 // Use the Python 'C' API to set up an exception object
80 4 PyErr_SetString(PyExc_RuntimeError, e.what());
81 4 }
82
83 ✗ VectorX get_xD(const ResultData& res) {
84 ✗ if (res.x.size() > 0) return res.x;
85 ✗ std::cout << "x is not defined" << std::endl;
86 ✗ throw res_data_exception();
87 }
88
89 ✗ double get_costD(const ResultData& res) { return res.cost_; }
90
91 ✗ bool get_succD(const ResultData& res) { return res.success_; }
92
93 2 bezier_t* getC_of_t(const ResultDataCOMTraj& res) {
94
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 2 return new bezier_t(res.c_of_t_);
95 }
96
97 1 bezier_t* getDL_of_t(const ResultDataCOMTraj& res) {
98
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 1 return new bezier_t(res.dL_of_t_);
99 }
100
101 ✗ VectorX get_x(const ResultDataCOMTraj& res) {
102 ✗ if (res.x.size() > 0) return res.x;
103 ✗ std::cout << "x is not defined" << std::endl;
104 ✗ throw res_data_exception();
105 }
106
107 ✗ double get_cost(const ResultDataCOMTraj& res) { return res.cost_; }
108
109 1 bool get_succ(const ResultDataCOMTraj& res) { return res.success_; }
110
111 /** BEGIN CONTACT DATA **/
112 5 centroidal_dynamics::Equilibrium* getContactPhase_(const ContactData& data) {
113
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 5 if (data.contactPhase_) return data.contactPhase_;
114 ✗ std::cout << "contactPhase_ is not assigned" << std::endl;
115 ✗ throw contact_data_exception();
116 }
117
118 ✗ void setContactPhase_(ContactData& data, centroidal_dynamics::Equilibrium* eq) {
119 ✗ data.contactPhase_ = eq;
120 ✗ }
121
122 2 boost::python::tuple get_Ang(const ContactData& res) {
123
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 2 if (res.ang_.size() == 0) {
124 1 std::cout << " no angular momentum constraints assigned " << std::endl;
125 1 throw contact_data_exception();
126 }
127 1 return boost::python::make_tuple(res.Ang_, res.ang_);
128 }
129
130 2 boost::python::tuple get_Kin(const ContactData& res) {
131
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 2 if (res.kin_.size() == 0) {
132 1 std::cout << " no kinematic constraints assigned " << std::endl;
133 1 throw contact_data_exception();
134 }
135 1 return boost::python::make_tuple(res.Kin_, res.kin_);
136 }
137
138 2 void set_Kin(ContactData& res, const MatrixX3& val, const VectorX& val2) {
139
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 2 if (val2.size() != val.rows()) {
140 1 std::cout << " Kinematic inequality matrix sizes do not match "
141 1 << std::endl;
142 1 throw contact_data_exception();
143 }
144 1 res.Kin_ = val;
145 1 res.kin_ = val2;
146 1 }
147
148 2 void set_Ang(ContactData& res, const MatrixX3& val, const VectorX& val2) {
149
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 2 if (val2.size() != val.rows()) {
150 1 std::cout << " Angular inequality matrix sizes do not match " << std::endl;
151 1 throw contact_data_exception();
152 }
153 1 res.Ang_ = val;
154 1 res.ang_ = val2;
155 1 }
156
157 /** END CONTACT DATA **/
158
159 /** BEGIN Constraints**/
160 5 int get_Flag(const Constraints& res) { return (int)res.flag_; }
161 2 bool get_ConstrainAcc(const Constraints& res) {
162 2 return res.constraintAcceleration_;
163 }
164 2 double get_MaxAcc(const Constraints& res) { return res.maxAcceleration_; }
165 2 double get_ReduceH(const Constraints& res) { return res.reduce_h_; }
166
167 3 void set_Flag(Constraints& res, const int val) {
168 3 res.flag_ = (ConstraintFlag)val;
169 3 }
170 1 void set_ConstrainAcc(Constraints& res, const bool val) {
171 1 res.constraintAcceleration_ = val;
172 1 }
173
174 1 void set_MaxAcc(Constraints& res, const double val) {
175 1 res.maxAcceleration_ = val;
176 1 }
177
178 1 void set_ReduceH(Constraints& res, const double val) { res.reduce_h_ = val; }
179
180 /** END Constraints **/
181
182 /** BEGIN ProblemData**/
183 3 point_t get_c0_(const ProblemData& res) { return res.c0_; }
184 2 point_t get_dc0_(const ProblemData& res) { return res.dc0_; }
185
186 2 point_t get_ddc0_(const ProblemData& res) { return res.ddc0_; }
187
188 1 point_t get_c1_(const ProblemData& res) { return res.c1_; }
189
190 2 point_t get_dc1_(const ProblemData& res) { return res.dc1_; }
191
192 2 point_t get_ddc1_(const ProblemData& res) { return res.ddc1_; }
193
194 2 void set_c0_(ProblemData& res, const point_t& val) { res.c0_ = val; }
195
196 2 void set_dc0_(ProblemData& res, const point_t& val) { res.dc0_ = val; }
197
198 1 void set_ddc0_(ProblemData& res, const point_t& val) { res.ddc0_ = val; }
199
200 1 void set_c1_(ProblemData& res, const point_t& val) { res.c1_ = val; }
201
202 1 void set_dc1_(ProblemData& res, const point_t& val) { res.dc1_ = val; }
203
204 1 void set_ddc1_(ProblemData& res, const point_t& val) { res.ddc1_ = val; }
205
206 2 bool get_useAngularMomentum_(const ProblemData& res) {
207 2 return res.useAngularMomentum_;
208 }
209 1 void set_useAngularMomentum_(ProblemData& res, const bool val) {
210 1 res.useAngularMomentum_ = val;
211 1 }
212
213 ✗ CostFunction get_costFunction_(const ProblemData& res) {
214 ✗ return res.costFunction_;
215 }
216
217 ✗ void set_costFunction_(ProblemData& res, const CostFunction val) {
218 ✗ res.costFunction_ = val;
219 ✗ }
220
221 ✗ GIWCRepresentation get_GIWC_representation_(const ProblemData& res) {
222 ✗ return res.representation_;
223 }
224
225 ✗ void set_GIWC_representation_(ProblemData& res, const GIWCRepresentation val) {
226 ✗ res.representation_ = val;
227 ✗ }
228
229 3 Constraints* get_constraints_(ProblemData& res) { return &res.constraints_; }
230
231 ✗ void set_constraints_(ProblemData& res, const Constraints& val) {
232 ✗ res.constraints_ = val;
233 ✗ }
234
235 ✗ std::vector<ContactData> get_contacts_(const ProblemData& res) {
236 ✗ return res.contacts_;
237 }
238
239 3 void addContact(ProblemData& res, const ContactData& val) {
240
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 3 res.contacts_.push_back(ContactData(val));
241 3 }
242
243 ✗ void clearContacts(ProblemData& res) { res.contacts_.clear(); }
244
245 /** END ProblemData **/
246
247 /** BEGIN computeCOMTraj **/
248
249 2 ResultDataCOMTraj* computeCOMTrajPointer(const ProblemData& pData,
250 const VectorX& Ts,
251 const double timeStep) {
252
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 2 ResultDataCOMTraj res = computeCOMTraj(pData, Ts, timeStep);
253
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 2 return new ResultDataCOMTraj(res);
254 1 }
255
256 1 ResultDataCOMTraj* computeCOMTrajPointerChooseSolver(
257 const ProblemData& pData, const VectorX& Ts, const double timeStep,
258 const solvers::SolverType solver) {
259
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 1 ResultDataCOMTraj res = computeCOMTraj(pData, Ts, timeStep, solver);
260
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 2 return new ResultDataCOMTraj(res);
261 1 }
262
263 /** END computeCOMTraj **/
264 /** BEGIN end effector **/
265
266 struct DummyPath {
267 ✗ point3_t operator()(double /*u*/) const { return point3_t::Zero(); }
268 };
269
270 typedef std::pair<MatrixXX, VectorX> linear_points_t;
271 typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
272
273 struct MatrixVector {
274 linear_points_t res;
275 ✗ MatrixXX A() { return res.first; }
276 ✗ VectorX b() { return res.second; }
277 };
278
279 ✗ ResultDataCOMTraj* computeEndEffector(const ProblemData& pData,
280 const double time) {
281 ResultDataCOMTraj res =
282 ✗ solveEndEffector<DummyPath>(pData, DummyPath(), time, 0);
283 ✗ return new ResultDataCOMTraj(res);
284 ✗ }
285
286 ✗ MatrixVector* computeEndEffectorConstraintsPython(const ProblemData& pData,
287 const double time) {
288 ✗ std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData, time);
289 ✗ MatrixVector* res = new MatrixVector();
290 ✗ res->res = computeEndEffectorConstraints(pData, time, pi);
291 ✗ return res;
292 ✗ }
293
294 ✗ MatrixVector* computeEndEffectorVelocityCostPython(const ProblemData& pData,
295 const double time) {
296 ✗ std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData, time);
297 ✗ MatrixVector* res = new MatrixVector();
298 ✗ res->res = computeVelocityCost(pData, time, pi);
299 ✗ return res;
300 ✗ }
301
302 ✗ MatrixVector* computeEndEffectorDistanceCostPython(const ProblemData& pData,
303 const double time,
304 const int numPoints,
305 point_list_t pts_l) {
306 ✗ std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData, time);
307 // transform the matrice 3xN in a std::vector<point3_t> of size N :
308 ✗ std::vector<point3_t> pts_path;
309 ✗ for (int c = 0; c < pts_l.cols(); ++c) {
310 ✗ pts_path.push_back(pts_l.block<3, 1>(0, c));
311 }
312 ✗ MatrixVector* res = new MatrixVector();
313 ✗ res->res = computeDistanceCostFunction(numPoints, pData, time, pts_path);
314 ✗ return res;
315 ✗ }
316
317 Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic>
318 ✗ computeEndEffectorConstantWaypoints(const ProblemData& pData,
319 const double time) {
320 ✗ std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData, time);
321 ✗ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> res(3, pi.size());
322 ✗ int col = 0;
323 ✗ for (std::vector<bezier_t::point_t>::const_iterator cit = pi.begin();
324 ✗ cit != pi.end(); ++cit, ++col)
325 ✗ res.block<3, 1>(0, col) = *cit;
326 ✗ return res;
327 ✗ }
328
329 /** END end effector **/
330
331
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 4 BOOST_PYTHON_MODULE(hpp_bezier_com_traj) {
332 using namespace boost::python;
333 2 register_exception_translator<res_data_exception>(&translate);
334 2 register_exception_translator<contact_data_exception>(&translateContactData);
335 /** BEGIN eigenpy init**/
336 2 eigenpy::enableEigenPy();
337 2 ENABLE_SPECIFIC_MATRIX_TYPE(point_t);
338 2 ENABLE_SPECIFIC_MATRIX_TYPE(Vector3);
339 2 ENABLE_SPECIFIC_MATRIX_TYPE(VectorX);
340 2 ENABLE_SPECIFIC_MATRIX_TYPE(MatrixX3);
341 2 ENABLE_SPECIFIC_MATRIX_TYPE(MatrixXX);
342
343 /** END eigenpy init**/
344 /*eigenpy::exposeAngleAxis();
345 eigenpy::exposeQuaternion();*/
346
347
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 2 class_<ResultDataCOMTraj>("ResultDataCOMTraj", init<>())
348
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 2 .add_property(
349 "c_of_t",
350
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 4 make_function(&getC_of_t, return_value_policy<manage_new_object>()))
351
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 2 .add_property(
352 "dL_of_t",
353
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 4 make_function(&getDL_of_t, return_value_policy<manage_new_object>()))
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 2 .add_property("success", &get_succ)
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 2 .add_property("cost", &get_cost)
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 2 .add_property("x", &get_x);
357
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 4 class_<ResultData>("ResultData", init<>())
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 2 .add_property("success", &get_succD)
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 2 .add_property("cost", &get_costD)
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 2 .add_property("x", &get_xD);
362
363
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 2 class_<ContactData>(
364 "ContactData",
365
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 2 init<
366
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 2 centroidal_dynamics::Equilibrium*>()[with_custodian_and_ward<1, 2>()])
367
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 2 .add_property(
368 "contactPhase_",
369
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 4 make_function(&getContactPhase_,
370 2 return_value_policy<reference_existing_object>()),
371 &setContactPhase_)
372
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 2 .add_property("Kin_", &get_Kin)
373
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 2 .add_property("Ang_", &get_Ang)
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 2 .def("setKinematicConstraints", &set_Kin)
375
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 2 .def("setAngularConstraints", &set_Ang);
376
377
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 2 class_<ProblemData>("ProblemData", init<>())
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 2 .add_property("c0_", &get_c0_, &set_c0_)
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 2 .add_property("dc0_", &get_dc0_, &set_dc0_)
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 2 .add_property("ddc0_", &get_ddc0_, &set_ddc0_)
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 2 .add_property("c1_", &get_c1_, &set_c1_)
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 2 .add_property("dc1_", &get_dc1_, &set_dc1_)
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 2 .add_property("ddc1_", &get_ddc1_, &set_ddc1_)
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 2 .add_property("useAngularMomentum_", &get_useAngularMomentum_,
385 &set_useAngularMomentum_)
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 2 .add_property("costFunction_", &get_costFunction_, &set_costFunction_)
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 2 .add_property("GIWCrepresentation_", &get_GIWC_representation_,
388 &set_GIWC_representation_)
389
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 2 .add_property(
390 "constraints_",
391
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 4 make_function(&get_constraints_,
392 2 return_value_policy<reference_existing_object>()),
393 &set_constraints_)
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 2 .def("clearContacts", clearContacts)
395
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 2 .def("addContact", addContact);
396
397
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 4 class_<Constraints>("Constraints", init<>())
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 2 .add_property("flag_", &get_Flag, &set_Flag)
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 2 .add_property("constrainAcceleration_", &get_ConstrainAcc,
400 &set_ConstrainAcc)
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 2 .add_property("maxAcceleration_", &get_MaxAcc, &set_MaxAcc)
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 2 .add_property("reduce_h_", &get_ReduceH, &set_ReduceH);
403
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 4 enum_<CostFunction>("CostFunction")
405
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 2 .value("ACCELERATION", ACCELERATION)
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 2 .value("DISTANCE_TRAVELED", DISTANCE_TRAVELED)
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 2 .value("TARGET_END_VELOCITY", TARGET_END_VELOCITY)
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 2 .value("UNKNOWN_COST", UNKNOWN_COST)
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 2 .export_values();
410
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 4 enum_<GIWCRepresentation>("GIWCRepresentation")
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 2 .value("DOUBLE_DESCRIPTION", DOUBLE_DESCRIPTION)
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416
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 4 enum_<solvers::SolverType>("SolverType")
418
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 2 .value("SOLVER_QUADPROG", solvers::SOLVER_QUADPROG)
419 //.value("SOLVER_QUADPROG_SPARSE", solvers::SOLVER_QUADPROG_SPARSE)
420 #ifdef USE_GLPK_SOLVER
421 .value("SOLVER_GLPK", solvers::SOLVER_GLPK)
422 #endif
423
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 2 .export_values();
424
425
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 4 enum_<ConstraintFlag>("ConstraintFlag")
426
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 2 .value("INIT_POS", INIT_POS)
427
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 2 .value("INIT_VEL", INIT_VEL)
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 2 .value("INIT_ACC", INIT_ACC)
429
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 2 .value("INIT_JERK", INIT_JERK)
430
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 2 .value("END_POS", END_POS)
431
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 2 .value("END_VEL", END_VEL)
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 2 .value("END_ACC", END_ACC)
433
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 2 .value("END_JERK", END_JERK)
434
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 2 .value("ONE_FREE_VAR", ONE_FREE_VAR)
435
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 2 .value("TWO_FREE_VAR", TWO_FREE_VAR)
436
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 2 .value("THREE_FREE_VAR", THREE_FREE_VAR)
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 2 .value("FOUR_FREE_VAR", FOUR_FREE_VAR)
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 2 .value("FIVE_FREE_VAR", FIVE_FREE_VAR)
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 2 .value("UNKNOWN", UNKNOWN)
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 2 .export_values();
441
442
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 2 class_<MatrixVector>("MatrixVector", no_init)
443
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 2 .def_readonly("A", &MatrixVector::A)
444
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 2 .def_readonly("b", &MatrixVector::b);
445
446
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 2 def("zeroStepCapturability", &zeroStepCapturability,
447 ✗ return_value_policy<manage_new_object>());
448
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 2 def("zeroStepCapturability", &zeroStepCapturabilityWithKinConstraints,
449 ✗ return_value_policy<manage_new_object>());
450
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 2 def("computeCOMTraj", &computeCOMTrajPointer,
451 ✗ return_value_policy<manage_new_object>());
452
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 2 def("computeCOMTraj", &computeCOMTrajPointerChooseSolver,
453 ✗ return_value_policy<manage_new_object>());
454
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 2 def("computeEndEffector", &computeEndEffector,
455 ✗ return_value_policy<manage_new_object>());
456
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 2 def("computeEndEffectorConstraints", &computeEndEffectorConstraintsPython,
457 ✗ return_value_policy<manage_new_object>());
458
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 2 def("computeEndEffectorVelocityCost", &computeEndEffectorVelocityCostPython,
459 ✗ return_value_policy<manage_new_object>());
460
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 2 def("computeEndEffectorDistanceCost", &computeEndEffectorDistanceCostPython,
461 2 return_value_policy<manage_new_object>());
462 2 def("computeEndEffectorConstantWaypoints",
463 &computeEndEffectorConstantWaypoints);
464 2 }
465
466 } // namespace bezier_com_traj
467