GCC Code Coverage Report

Directory: ./
File: python/centroidal_dynamics_python.cpp
Date: 2025-03-17 04:04:52
Exec Total Coverage
Lines: 55 58 94.8%
Branches: 48 96 50.0%
Line Branch Exec Source
1 #include <boost/python.hpp>
2 #include <eigenpy/eigenpy.hpp>
3 #include <eigenpy/memory.hpp>
4
5 #include "hpp/centroidal-dynamics/centroidal_dynamics.hh"
6 #include "hpp/centroidal-dynamics/util.hh"
7
8 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(centroidal_dynamics::Equilibrium)
9
10 namespace centroidal_dynamics {
11 using namespace boost::python;
12
13 1 boost::python::tuple wrapComputeQuasiEquilibriumRobustness(Equilibrium& self,
14 const Vector3& com) {
15 double robustness;
16
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 1 LP_status status = self.computeEquilibriumRobustness(com, robustness);
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 2 return boost::python::make_tuple(status, robustness);
18 }
19
20 1 boost::python::tuple wrapComputeEquilibriumRobustness(Equilibrium& self,
21 const Vector3& com,
22 const Vector3& acc) {
23 double robustness;
24
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 1 LP_status status = self.computeEquilibriumRobustness(com, acc, robustness);
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 2 return boost::python::make_tuple(status, robustness);
26 }
27
28 1 boost::python::tuple wrapCheckRobustEquilibrium(Equilibrium& self,
29 const Vector3& com) {
30 bool robustness;
31
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 1 LP_status status = self.checkRobustEquilibrium(com, robustness);
32
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 2 return boost::python::make_tuple(status, robustness);
33 }
34
35 ✗ bool wrapSetNewContacts(Equilibrium& self,
36 const MatrixX3ColMajor& contactPoints,
37 const MatrixX3ColMajor& contactNormals,
38 const double frictionCoefficient,
39 const EquilibriumAlgorithm alg) {
40 ✗ return self.setNewContacts(contactPoints, contactNormals, frictionCoefficient,
41 ✗ alg);
42 }
43
44 2 bool wrapSetNewContactsFull(Equilibrium& self,
45 const MatrixX3ColMajor& contactPoints,
46 const MatrixX3ColMajor& contactNormals,
47 const double frictionCoefficient,
48 const EquilibriumAlgorithm alg) {
49 2 return self.setNewContacts(contactPoints, contactNormals, frictionCoefficient,
50 2 alg);
51 }
52
53 1 boost::python::tuple wrapGetPolytopeInequalities(Equilibrium& self) {
54
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 1 MatrixXX H;
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 1 VectorX h;
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 1 H = MatrixXX::Zero(6, 6);
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 1 h = VectorX::Zero(6, 1);
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 1 self.getPolytopeInequalities(H, h);
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 1 MatrixXXColMajor _H = H;
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 2 return boost::python::make_tuple(_H, h);
61 1 }
62
63
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 4 BOOST_PYTHON_MODULE(hpp_centroidal_dynamics) {
64 /** BEGIN eigenpy init**/
65 2 eigenpy::enableEigenPy();
66
67 // eigenpy::enableEigenPySpecific<MatrixX3ColMajor, MatrixX3ColMajor>();
68 // eigenpy::enableEigenPySpecific<MatrixXXColMajor, MatrixXXColMajor>();
69 // eigenpy::enableEigenPySpecific<Vector3, Vector3>();
70 // eigenpy::enableEigenPySpecific<VectorX, VectorX>();
71 /*eigenpy::exposeAngleAxis();
72 eigenpy::exposeQuaternion();*/
73
74 /** END eigenpy init**/
75
76 /** BEGIN enum types **/
77 #ifdef CLP_FOUND
78 enum_<SolverLP>("SolverLP")
79 .value("SOLVER_LP_QPOASES", SOLVER_LP_QPOASES)
80 .value("SOLVER_LP_CLP", SOLVER_LP_CLP)
81 .export_values();
82 #else
83 4 enum_<SolverLP>("SolverLP")
84
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 2 .value("SOLVER_LP_QPOASES", SOLVER_LP_QPOASES)
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 2 .export_values();
86 #endif
87
88 4 enum_<EquilibriumAlgorithm>("EquilibriumAlgorithm")
89
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 2 .value("EQUILIBRIUM_ALGORITHM_LP", EQUILIBRIUM_ALGORITHM_LP)
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 2 .value("EQUILIBRIUM_ALGORITHM_LP2", EQUILIBRIUM_ALGORITHM_LP2)
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 2 .value("EQUILIBRIUM_ALGORITHM_DLP", EQUILIBRIUM_ALGORITHM_DLP)
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 2 .value("EQUILIBRIUM_ALGORITHM_PP", EQUILIBRIUM_ALGORITHM_PP)
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 2 .value("EQUILIBRIUM_ALGORITHM_IP", EQUILIBRIUM_ALGORITHM_IP)
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 2 .value("EQUILIBRIUM_ALGORITHM_DIP", EQUILIBRIUM_ALGORITHM_DIP)
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 2 .export_values();
96
97 4 enum_<LP_status>("LP_status")
98
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 2 .value("LP_STATUS_UNKNOWN", LP_STATUS_UNKNOWN)
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 2 .value("LP_STATUS_OPTIMAL", LP_STATUS_OPTIMAL)
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 2 .value("LP_STATUS_INFEASIBLE", LP_STATUS_INFEASIBLE)
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 2 .value("LP_STATUS_UNBOUNDED", LP_STATUS_UNBOUNDED)
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 2 .value("LP_STATUS_MAX_ITER_REACHED", LP_STATUS_MAX_ITER_REACHED)
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 2 .value("LP_STATUS_ERROR", LP_STATUS_ERROR)
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 2 .export_values();
105
106 /** END enum types **/
107
108 // bool (Equilibrium::*setNewContacts)
109 // (const MatrixX3ColMajor&, const MatrixX3ColMajor&, const double,
110 // const EquilibriumAlgorithm, const int graspIndex, const double
111 // maxGraspForce) = &Equilibrium::setNewContacts;
112
113
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 4 class_<Equilibrium>(
114 "Equilibrium",
115 2 init<std::string, double, unsigned int,
116 optional<SolverLP, bool, const unsigned int, const bool> >())
117
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 2 .def("useWarmStart", &Equilibrium::useWarmStart)
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 2 .def("setUseWarmStart", &Equilibrium::setUseWarmStart)
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 2 .def("getName", &Equilibrium::getName)
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 2 .def("getAlgorithm", &Equilibrium::getAlgorithm)
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 2 .def("setNewContacts", wrapSetNewContacts)
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 2 .def("setNewContacts", wrapSetNewContactsFull)
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 2 .def("computeEquilibriumRobustness",
124 wrapComputeQuasiEquilibriumRobustness)
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 2 .def("computeEquilibriumRobustness", wrapComputeEquilibriumRobustness)
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 2 .def("checkRobustEquilibrium", wrapCheckRobustEquilibrium)
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 2 .def("getPolytopeInequalities", wrapGetPolytopeInequalities);
128 2 }
129
130 } // namespace centroidal_dynamics
131