GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation-base.cpp
Date: 2025-03-26 19:23:43
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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 #include "python/crocoddyl/core/actuation-base.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ActuationModelAbstractVisitor
19 : public bp::def_visitor<ActuationModelAbstractVisitor<Model>> {
20 typedef typename Model::Scalar Scalar;
21 typedef typename Model::ActuationModel ActuationModel;
22 typedef typename Model::ActuationData ActuationData;
23 typedef typename Model::VectorXs VectorXs;
24 template <class PyClass>
25 40 void visit(PyClass& cl) const {
26
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 40 cl.def("calc", pure_virtual(&Model::calc),
27 bp::args("self", "data", "x", "u"),
28 "Compute the actuation signal and actuation set from the "
29 "joint-torque input u.\n\n"
30 "It describes the time-continuos evolution of the actuation model.\n"
31 ":param data: actuation data\n"
32 ":param x: state point (dim. state.nx)\n"
33 ":param u: joint-torque input (dim. nu)")
34
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 80 .def("calc",
35 static_cast<void (ActuationModel::*)(
36 const std::shared_ptr<ActuationData>&,
37 const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc),
38 bp::args("self", "data", "x"),
39 "Ignore the computation of the actuation signal and actuation "
40 "set.\n\n"
41 "It does not update the actuation signal as this function is used "
42 "in "
43 "the\n"
44 "terminal nodes of an optimal control problem.\n"
45 ":param data: actuation data\n"
46 ":param x: state point (dim. state.nx)")
47
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 80 .def("calcDiff", pure_virtual(&Model::calcDiff),
48 bp::args("self", "data", "x", "u"),
49 "Compute the Jacobians of the actuation model.\n\n"
50 "It computes the partial derivatives of the actuation model which "
51 "is\n"
52 "describes in continouos time.\n"
53 ":param data: actuation data\n"
54 ":param x: state point (dim. state.nx)\n"
55 ":param u: joint-torque input (dim. nu)")
56
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 80 .def("calcDiff",
57 static_cast<void (ActuationModel::*)(
58 const std::shared_ptr<ActuationData>&,
59 const Eigen::Ref<const VectorXs>&)>(&ActuationModel::calc),
60 bp::args("self", "data", "x"),
61 "Ignore the computation of the Jacobians of the actuation "
62 "function.\n\n"
63 "It does not update the Jacobians of the actuation function as "
64 "this "
65 "function\n"
66 "is used in the terminal nodes of an optimal control problem.\n"
67 ":param data: actuation data\n"
68 ":param x: state point (dim. state.nx)")
69
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 80 .def("commands", pure_virtual(&Model::commands),
70 bp::args("self", "data", "x", "tau"),
71 "Compute the joint-torque commands from the generalized "
72 "torques.\n\n"
73 "It stores the results in data.u.\n"
74 ":param data: actuation data\n"
75 ":param x: state point (dim. state.nx)\n"
76 ":param tau: generalized torques (dim state.nv)")
77
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 80 .def("torqueTransform", &Model::torqueTransform,
78 &Model::default_torqueTransform,
79 bp::args("self", "data", "x", "u"),
80 "Compute the torque transform from generalized torques to "
81 "joint-torque inputs.\n\n"
82 "It stores the results in data.Mtau.\n"
83 ":param data: actuation data\n"
84 ":param x: state point (dim. state.nx)\n"
85 ":param u: joint-torque input (dim nu)")
86
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 80 .def("createData", &Model::createData, &Model::default_createData,
87 bp::args("self"),
88 "Create the actuation data.\n\n"
89 "Each actuation model (AM) has its own data that needs to be "
90 "allocated.\n"
91 "This function returns the allocated data for a predefined AM.\n"
92 ":return AM data.")
93
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 80 .add_property("nu", bp::make_function(&Model::get_nu),
94 "dimension of joint-torque vector")
95
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 40 .add_property(
96 "state",
97 bp::make_function(&Model::get_state,
98 40 bp::return_value_policy<bp::return_by_value>()),
99 "state");
100 40 }
101 };
102
103 template <typename Data>
104 struct ActuationDataAbstractVisitor
105 : public bp::def_visitor<ActuationDataAbstractVisitor<Data>> {
106 typedef typename Data::Scalar Scalar;
107 template <class PyClass>
108 40 void visit(PyClass& cl) const {
109
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 40 cl.add_property(
110 40 "tau", bp::make_getter(&Data::tau, bp::return_internal_reference<>()),
111 bp::make_setter(&Data::tau), "generalized torques")
112
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 80 .add_property(
113 40 "u", bp::make_getter(&Data::u, bp::return_internal_reference<>()),
114 bp::make_setter(&Data::u), "joint-torque inputs")
115
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 80 .add_property(
116 "dtau_dx",
117 40 bp::make_getter(&Data::dtau_dx, bp::return_internal_reference<>()),
118 bp::make_setter(&Data::dtau_dx),
119 "partial derivatives of the actuation model w.r.t. the state point")
120
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 80 .add_property(
121 "dtau_du",
122 40 bp::make_getter(&Data::dtau_du, bp::return_internal_reference<>()),
123 bp::make_setter(&Data::dtau_du),
124 "partial derivatives of the actuation model w.r.t. the "
125 "joint-torque input")
126
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 80 .add_property(
127 "Mtau",
128 40 bp::make_getter(&Data::Mtau, bp::return_internal_reference<>()),
129 bp::make_setter(&Data::Mtau),
130 "torque transform from generalized torques to joint-torque input")
131
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 80 .add_property(
132 "tau_set",
133 bp::make_getter(&Data::tau_set,
134 40 bp::return_value_policy<bp::return_by_value>()),
135 bp::make_setter(&Data::tau_set), "actuation set");
136 40 }
137 };
138
139 #define CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \
140 typedef ActuationModelAbstractTpl<Scalar> Model; \
141 typedef ActuationModelAbstractTpl_wrap<Scalar> Model_wrap; \
142 typedef StateAbstractTpl<Scalar> State; \
143 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
144 bp::class_<Model_wrap, boost::noncopyable>( \
145 "ActuationModelAbstract", \
146 "Abstract class for actuation-mapping models.\n\n" \
147 "An actuation model is a function that maps state x and joint-torque " \
148 "inputs u into generalized torques tau, where tau is also named as the " \
149 "actuation signal of our system. The computation of the actuation " \
150 "signal and its partial derivatives are mainly carried out inside " \
151 "calc() and calcDiff(), respectively.", \
152 bp::init<std::shared_ptr<State>, std::size_t>( \
153 bp::args("self", "state", "nu"), \
154 "Initialize the actuation model.\n\n" \
155 ":param state: state description,\n" \
156 ":param nu: dimension of the joint-torque input")) \
157 .def(ActuationModelAbstractVisitor<Model_wrap>()) \
158 .def(PrintableVisitor<Model_wrap>()) \
159 .def(CopyableVisitor<Model_wrap>());
160
161 #define CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \
162 typedef ActuationDataAbstractTpl<Scalar> Data; \
163 typedef ActuationModelAbstractTpl<Scalar> Model; \
164 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
165 bp::class_<Data>( \
166 "ActuationDataAbstract", \
167 "Abstract class for actuation datas.\n\n" \
168 "An actuation data contains all the required information for " \
169 "processing an user-defined actuation model. The actuation data " \
170 "typically is allocated onces by running model.createData().", \
171 bp::init<Model*>( \
172 bp::args("self", "model"), \
173 "Create common data shared between actuation models.\n\n" \
174 "The actuation data uses the model in order to first process it.\n" \
175 ":param model: actuation model")) \
176 .def(ActuationDataAbstractVisitor<Data>()) \
177 .def(CopyableVisitor<Data>());
178
179 10 void exposeActuationAbstract() {
180
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTUATION_MODEL_ABSTRACT_PYTHON_BINDINGS)
181
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTUATION_DATA_ABSTRACT_PYTHON_BINDINGS)
182 10 }
183
184 } // namespace python
185 } // namespace crocoddyl
186