GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 49 55 89.1%
Branches: 44 88 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, 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 #include "python/crocoddyl/core/actuation-base.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeActuationAbstract() {
19 10 bp::register_ptr_to_python<boost::shared_ptr<ActuationModelAbstract> >();
20
21
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 10 bp::class_<ActuationModelAbstract_wrap, boost::noncopyable>(
22 "ActuationModelAbstract",
23 "Abstract class for actuation-mapping models.\n\n"
24 "An actuation model is a function that maps state x and joint-torque "
25 "inputs u into generalized\n"
26 "torques tau, where tau is also named as the actuation signal of our "
27 "system.\n"
28 "The computation of the actuation signal and its partial derivatives are "
29 "mainly carried out\n"
30 "inside calc() and calcDiff(), respectively.",
31
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 10 bp::init<boost::shared_ptr<StateAbstract>, std::size_t>(
32 20 bp::args("self", "state", "nu"),
33 "Initialize the actuation model.\n\n"
34 ":param state: state description,\n"
35 ":param nu: dimension of the joint-torque input"))
36
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 10 .def("calc", pure_virtual(&ActuationModelAbstract_wrap::calc),
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 20 bp::args("self", "data", "x", "u"),
38 "Compute the actuation signal and actuation set from the "
39 "joint-torque input u.\n\n"
40 "It describes the time-continuos evolution of the actuation model.\n"
41 ":param data: actuation data\n"
42 ":param x: state point (dim. state.nx)\n"
43 ":param u: joint-torque input (dim. nu)")
44 .def<void (ActuationModelAbstract::*)(
45 const boost::shared_ptr<ActuationDataAbstract>&,
46 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
47
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 20 "calc", &ActuationModelAbstract::calc, bp::args("self", "data", "x"),
48 "Ignore the computation of the actuation signal and actuation "
49 "set.\n\n"
50 "It does not update the actuation signal as this function is used in "
51 "the\n"
52 "terminal nodes of an optimal control problem.\n"
53 ":param data: actuation data\n"
54 ":param x: state point (dim. state.nx)")
55
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 20 .def("calcDiff", pure_virtual(&ActuationModelAbstract_wrap::calcDiff),
56
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 20 bp::args("self", "data", "x", "u"),
57 "Compute the Jacobians of the actuation model.\n\n"
58 "It computes the partial derivatives of the actuation model which "
59 "is\n"
60 "describes in continouos time.\n"
61 ":param data: actuation data\n"
62 ":param x: state point (dim. state.nx)\n"
63 ":param u: joint-torque input (dim. nu)")
64 .def<void (ActuationModelAbstract::*)(
65 const boost::shared_ptr<ActuationDataAbstract>&,
66 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
67 "calcDiff", &ActuationModelAbstract::calcDiff,
68
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 20 bp::args("self", "data", "x"),
69 "Ignore the computation of the Jacobians of the actuation "
70 "function.\n\n"
71 "It does not update the Jacobians of the actuation function as this "
72 "function\n"
73 "is used in the terminal nodes of an optimal control problem.\n"
74 ":param data: actuation data\n"
75 ":param x: state point (dim. state.nx)")
76
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 20 .def("commands", pure_virtual(&ActuationModelAbstract_wrap::commands),
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 20 bp::args("self", "data", "x", "tau"),
78 "Compute the joint-torque commands from the generalized torques.\n\n"
79 "It stores the results in data.u.\n"
80 ":param data: actuation data\n"
81 ":param x: state point (dim. state.nx)\n"
82 ":param tau: generalized torques (dim state.nv)")
83 20 .def("torqueTransform", &ActuationModelAbstract_wrap::torqueTransform,
84
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 10 &ActuationModelAbstract_wrap::default_torqueTransform,
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 20 bp::args("self", "data", "x", "u"),
86 "Compute the torque transform from generalized torques to "
87 "joint-torque inputs.\n\n"
88 "It stores the results in data.Mtau.\n"
89 ":param data: actuation data\n"
90 ":param x: state point (dim. state.nx)\n"
91 ":param u: joint-torque input (dim nu)")
92 20 .def("createData", &ActuationModelAbstract_wrap::createData,
93
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 20 &ActuationModelAbstract_wrap::default_createData, bp::args("self"),
94 "Create the actuation data.\n\n"
95 "Each actuation model (AM) has its own data that needs to be "
96 "allocated.\n"
97 "This function returns the allocated data for a predefined AM.\n"
98 ":return AM data.")
99
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 10 .add_property("nu",
100
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 20 bp::make_function(&ActuationModelAbstract_wrap::get_nu),
101 "dimension of joint-torque vector")
102
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 10 .add_property(
103 "state",
104
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 20 bp::make_function(&ActuationModelAbstract_wrap::get_state,
105 10 bp::return_value_policy<bp::return_by_value>()),
106 "state");
107
108 10 bp::register_ptr_to_python<boost::shared_ptr<ActuationDataAbstract> >();
109
110
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 10 bp::class_<ActuationDataAbstract>(
111 "ActuationDataAbstract",
112 "Abstract class for actuation datas.\n\n"
113 "An actuation data contains all the required information for processing "
114 "an user-defined \n"
115 "actuation model. The actuation data typically is allocated onces by "
116 "running model.createData().",
117
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 10 bp::init<ActuationModelAbstract*>(
118 20 bp::args("self", "model"),
119 "Create common data shared between actuation models.\n\n"
120 "The actuation data uses the model in order to first process it.\n"
121 ":param model: actuation model"))
122
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 10 .add_property("tau",
123
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 10 bp::make_getter(&ActuationDataAbstract::tau,
124 ✗ bp::return_internal_reference<>()),
125
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 20 bp::make_setter(&ActuationDataAbstract::tau),
126 "generalized torques")
127
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 10 .add_property("u",
128
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 10 bp::make_getter(&ActuationDataAbstract::u,
129 ✗ bp::return_internal_reference<>()),
130
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 20 bp::make_setter(&ActuationDataAbstract::u),
131 "joint-torque inputs")
132
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 10 .add_property(
133 "dtau_dx",
134
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 10 bp::make_getter(&ActuationDataAbstract::dtau_dx,
135 ✗ bp::return_internal_reference<>()),
136
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 20 bp::make_setter(&ActuationDataAbstract::dtau_dx),
137 "partial derivatives of the actuation model w.r.t. the state point")
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 10 .add_property("dtau_du",
139
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 10 bp::make_getter(&ActuationDataAbstract::dtau_du,
140 ✗ bp::return_internal_reference<>()),
141
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 20 bp::make_setter(&ActuationDataAbstract::dtau_du),
142 "partial derivatives of the actuation model w.r.t. the "
143 "joint-torque input")
144
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 10 .add_property(
145 "Mtau",
146
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 10 bp::make_getter(&ActuationDataAbstract::Mtau,
147 ✗ bp::return_internal_reference<>()),
148
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 20 bp::make_setter(&ActuationDataAbstract::Mtau),
149 "torque transform from generalized torques to joint-torque input")
150
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 10 .add_property(
151 "tau_set",
152
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 10 bp::make_getter(&ActuationDataAbstract::tau_set,
153 ✗ bp::return_value_policy<bp::return_by_value>()),
154
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 20 bp::make_setter(&ActuationDataAbstract::tau_set), "actuation set")
155
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 10 .def(CopyableVisitor<ActuationDataAbstract>());
156 10 }
157
158 } // namespace python
159 } // namespace crocoddyl
160