GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 29 31 93.5%
Branches: 22 44 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/actuation/actuation-squashing.hpp"
11
12 #include "crocoddyl/core/utils/exception.hpp"
13 #include "python/crocoddyl/core/core.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeActuationSquashing() {
20 10 bp::register_ptr_to_python<boost::shared_ptr<ActuationSquashingModel> >();
21
22
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 10 bp::class_<ActuationSquashingModel, bp::bases<ActuationModelAbstract> >(
23 "ActuationSquashingModel", "Class for squashing an actuation model.\n\n",
24
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 10 bp::init<boost::shared_ptr<ActuationModelAbstract>,
25 boost::shared_ptr<SquashingModelAbstract>, std::size_t>(
26 20 bp::args("self", "actuation", "squashing", "nu"),
27 "Initialize the actuation model with squashing function.\n\n"
28 ":param actuation: actuation model to be squashed,\n"
29 ":param squashing: squashing function,\n"
30 ":param nu: number of controls"))
31 .def<void (ActuationSquashingModel::*)(
32 const boost::shared_ptr<ActuationDataAbstract>&,
33 const Eigen::Ref<const Eigen::VectorXd>&,
34
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
35 "calc", &ActuationSquashingModel::calc,
36
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 20 bp::args("self", "data", "x", "u"),
37 "Compute the actuation signal from the squashing input u.\n\n"
38 "It describes the time-continuos evolution of the actuation model.\n"
39 ":param data: actuation data\n"
40 ":param x: state point (dim. state.nx)\n"
41 ":param u: squashing function input")
42 .def<void (ActuationSquashingModel::*)(
43 const boost::shared_ptr<ActuationDataAbstract>&,
44 const Eigen::Ref<const Eigen::VectorXd>&,
45
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
46 "calcDiff", &ActuationSquashingModel::calcDiff,
47
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 20 bp::args("self", "data", "x", "u"),
48 "Compute the derivatives of the actuation model.\n\n"
49 "It computes the partial derivatives of the actuation model which "
50 "is\n"
51 "describes in continouos time. It assumes that calc has been run "
52 "first.\n"
53 ":param data: actuation data\n"
54 ":param x: state point (dim. state.nx)\n"
55 ":param u: control input (dim. nu).")
56
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 20 .def("createData", &ActuationSquashingModel::createData, bp::args("self"),
57 "Create the actuation squashing data.\n\n"
58 "Each actuation model (AM) has its own data that needs to be "
59 "allocated.\n"
60 "This function returns the allocated data for a predefined AM.\n"
61 ":return AM data.")
62
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 10 .add_property(
63 "squashing",
64
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 10 bp::make_function(&ActuationSquashingModel::get_squashing,
65 10 bp::return_value_policy<bp::return_by_value>()),
66 "squashing")
67
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 10 .add_property(
68 "actuation",
69
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 10 bp::make_function(&ActuationSquashingModel::get_actuation,
70 10 bp::return_value_policy<bp::return_by_value>()),
71 "actuation")
72
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 10 .def(CopyableVisitor<ActuationSquashingModel>());
73
74 10 bp::register_ptr_to_python<boost::shared_ptr<ActuationSquashingData> >();
75
76
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 10 bp::class_<ActuationSquashingData, bp::bases<ActuationDataAbstract> >(
77 "ActuationSquashingData",
78 "Class for actuation datas using squashing functions.\n\n"
79 "In crocoddyl, an actuation data contains all the required information "
80 "for processing an\n"
81 "user-defined actuation model. The actuation data typically is allocated "
82 "onces by running\n"
83 "model.createData().",
84
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 10 bp::init<ActuationSquashingModel*>(
85 20 bp::args("self", "model"),
86 "Create common data shared between actuation models.\n\n"
87 "The actuation data uses the model in order to first process it.\n"
88 ":param model: actuation model"))
89
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 10 .add_property(
90 "squashing",
91
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 10 bp::make_getter(&ActuationSquashingData::squashing,
92 ✗ bp::return_value_policy<bp::return_by_value>()),
93
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 20 bp::make_setter(&ActuationSquashingData::squashing),
94 "Data of the associated squashing model")
95
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 10 .add_property(
96 "actuation",
97
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 10 bp::make_getter(&ActuationSquashingData::actuation,
98 ✗ bp::return_value_policy<bp::return_by_value>()),
99
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 20 bp::make_setter(&ActuationSquashingData::actuation),
100 "Data of the associated actuation model")
101
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 10 .def(CopyableVisitor<ActuationSquashingData>());
102 10 }
103
104 } // namespace python
105 } // namespace crocoddyl
106