GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/action-base.hpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 37 66 56.1%
Branches: 42 194 21.6%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_
11 #define BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_
12
13 #include "crocoddyl/core/action-base.hpp"
14 #include "python/crocoddyl/core/core.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 template <typename _Scalar>
20 class ActionModelAbstractTpl_wrap
21 : public ActionModelAbstractTpl<_Scalar>,
22 public bp::wrapper<ActionModelAbstractTpl<_Scalar>> {
23 public:
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 ✗ CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelAbstractTpl_wrap)
26
27 typedef _Scalar Scalar;
28 typedef typename ScalarSelector<Scalar>::type ScalarType;
29 typedef typename crocoddyl::ActionModelAbstractTpl<Scalar> ActionModel;
30 typedef typename crocoddyl::ActionDataAbstractTpl<Scalar> ActionData;
31 typedef typename crocoddyl::StateAbstractTpl<Scalar> State;
32 typedef typename ActionModel::VectorXs VectorXs;
33 using ActionModel::ng_;
34 using ActionModel::ng_T_;
35 using ActionModel::nh_;
36 using ActionModel::nh_T_;
37 using ActionModel::nr_;
38 using ActionModel::nu_;
39 using ActionModel::state_;
40 using ActionModel::unone_;
41
42 16 ActionModelAbstractTpl_wrap(std::shared_ptr<State> state,
43 const std::size_t nu, const std::size_t nr = 1,
44 const std::size_t ng = 0,
45 const std::size_t nh = 0,
46 const std::size_t ng_T = 0,
47 const std::size_t nh_T = 0)
48 : ActionModel(state, nu, nr, ng, nh, ng_T, nh_T),
49
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 16 bp::wrapper<ActionModel>() {
50
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 16 unone_ = VectorXs::Constant(nu, Scalar(NAN));
51 }
52
53 360 void calc(const std::shared_ptr<ActionData>& data,
54 const Eigen::Ref<const VectorXs>& x,
55 const Eigen::Ref<const VectorXs>& u) override {
56
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 360 if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
57 ✗ throw_pretty(
58 "Invalid argument: " << "x has wrong dimension (it should be " +
59 std::to_string(state_->get_nx()) + ")");
60 }
61
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 360 if (static_cast<std::size_t>(u.size()) != nu_) {
62 ✗ throw_pretty(
63 "Invalid argument: " << "u has wrong dimension (it should be " +
64 std::to_string(nu_) + ")");
65 }
66 360 if (std::isnan(
67
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 720 scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) {
68
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 6 return bp::call<void>(this->get_override("calc").ptr(), data,
69 12 (VectorXs)x);
70 } else {
71
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 354 return bp::call<void>(this->get_override("calc").ptr(), data, (VectorXs)x,
72 708 (VectorXs)u);
73 }
74 }
75
76 112 void calcDiff(const std::shared_ptr<ActionData>& data,
77 const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u) override {
79
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 112 if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
80 ✗ throw_pretty(
81 "Invalid argument: " << "x has wrong dimension (it should be " +
82 std::to_string(state_->get_nx()) + ")");
83 }
84
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 112 if (static_cast<std::size_t>(u.size()) != nu_) {
85 ✗ throw_pretty(
86 "Invalid argument: " << "u has wrong dimension (it should be " +
87 std::to_string(nu_) + ")");
88 }
89 112 if (std::isnan(
90
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 224 scalar_cast<ScalarType>(u.template lpNorm<Eigen::Infinity>()))) {
91
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 2 return bp::call<void>(this->get_override("calcDiff").ptr(), data,
92 4 (VectorXs)x);
93 } else {
94
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 110 return bp::call<void>(this->get_override("calcDiff").ptr(), data,
95
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 220 (VectorXs)x, (VectorXs)u);
96 }
97 }
98
99 444 std::shared_ptr<ActionData> createData() override {
100 444 enableMultithreading() = false;
101
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 888 if (boost::python::override createData = this->get_override("createData")) {
102
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 444 return bp::call<std::shared_ptr<ActionData>>(createData.ptr());
103 }
104 ✗ return ActionModel::createData();
105 }
106
107 ✗ std::shared_ptr<ActionData> default_createData() {
108 ✗ return this->ActionModel::createData();
109 }
110
111 ✗ void quasiStatic(const std::shared_ptr<ActionData>& data,
112 Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x,
113 const std::size_t maxiter, const Scalar tol) override {
114 ✗ if (boost::python::override quasiStatic =
115 this->get_override("quasiStatic")) {
116 ✗ u = bp::call<VectorXs>(quasiStatic.ptr(), data, (VectorXs)x, maxiter,
117 tol);
118 ✗ if (static_cast<std::size_t>(u.size()) != nu_) {
119 ✗ throw_pretty(
120 "Invalid argument: " << "u has wrong dimension (it should be " +
121 std::to_string(nu_) + ")");
122 }
123 ✗ return;
124 }
125 ✗ return ActionModel::quasiStatic(data, u, x, maxiter, tol);
126 }
127
128 ✗ void default_quasiStatic(const std::shared_ptr<ActionData>& data,
129 Eigen::Ref<VectorXs> u,
130 const Eigen::Ref<const VectorXs>& x,
131 const std::size_t maxiter, const Scalar tol) {
132 ✗ return this->ActionModel::quasiStatic(data, u, x, maxiter, tol);
133 }
134
135 1500 std::size_t get_ng() const override {
136
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 1500 if (boost::python::override get_ng = this->get_override("get_ng")) {
137 ✗ return bp::call<std::size_t>(get_ng.ptr());
138 }
139 1500 return this->ActionModel::get_ng();
140 }
141
142 ✗ std::size_t default_get_ng() const { return this->ActionModel::get_ng(); }
143
144 1500 std::size_t get_nh() const override {
145
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 1500 if (boost::python::override get_nh = this->get_override("get_nh")) {
146 ✗ return bp::call<std::size_t>(get_nh.ptr());
147 }
148 1500 return this->ActionModel::get_nh();
149 }
150
151 ✗ std::size_t default_get_nh() const { return this->ActionModel::get_nh(); }
152
153 3000 std::size_t get_ng_T() const override {
154
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 3000 if (boost::python::override get_ng_T = this->get_override("get_ng_T")) {
155 ✗ return bp::call<std::size_t>(get_ng_T.ptr());
156 }
157 3000 return this->ActionModel::get_ng_T();
158 }
159
160 ✗ std::size_t default_get_ng_T() const { return this->ActionModel::get_ng_T(); }
161
162 3000 std::size_t get_nh_T() const override {
163
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 3000 if (boost::python::override get_nh_T = this->get_override("get_nh_T")) {
164 ✗ return bp::call<std::size_t>(get_nh_T.ptr());
165 }
166 3000 return this->ActionModel::get_nh_T();
167 }
168
169 ✗ std::size_t default_get_nh_T() const { return this->ActionModel::get_nh_T(); }
170
171 template <typename NewScalar>
172 ✗ ActionModelAbstractTpl_wrap<NewScalar> cast() const {
173 typedef ActionModelAbstractTpl_wrap<NewScalar> ReturnType;
174 ✗ ReturnType ret(state_->template cast<NewScalar>(), nu_, nr_, ng_, nh_,
175 ✗ ng_T_, nh_T_);
176 ✗ return ret;
177 }
178 };
179
180 } // namespace python
181 } // namespace crocoddyl
182
183 #endif // BINDINGS_PYTHON_CROCODDYL_CORE_ACTION_BASE_HPP_
184