GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, 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 "python/crocoddyl/core/core.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ActuationModelSquashingVisitor
19 : public bp::def_visitor<ActuationModelSquashingVisitor<Model>> {
20 typedef typename Model::Scalar Scalar;
21 typedef typename Model::ActuationDataAbstract Data;
22 typedef typename Model::VectorXs VectorXs;
23 template <class PyClass>
24 40 void visit(PyClass& cl) const {
25 40 cl.def("calc",
26 static_cast<void (Model::*)(
27 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
28 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
29 bp::args("self", "data", "x", "u"),
30 "Compute the actuation signal from the squashing input u.\n\n"
31 "It describes the time-continuos evolution of the actuation model.\n"
32 ":param data: actuation data\n"
33 ":param x: state point (dim. state.nx)\n"
34 ":param u: squashing function input")
35
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 80 .def(
36 "calcDiff",
37 static_cast<void (Model::*)(
38 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
39 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
40 bp::args("self", "data", "x", "u"),
41 "Compute the derivatives of the actuation model.\n\n"
42 "It computes the partial derivatives of the actuation model which "
43 "is\n"
44 "describes in continouos time. It assumes that calc has been run "
45 "first.\n"
46 ":param data: actuation data\n"
47 ":param x: state point (dim. state.nx)\n"
48 ":param u: control input (dim. nu).")
49
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 80 .def("createData", &Model::createData, bp::args("self"),
50 "Create the actuation squashing data.\n\n"
51 "Each actuation model (AM) has its own data that needs to be "
52 "allocated.\n"
53 "This function returns the allocated data for a predefined AM.\n"
54 ":return AM data.")
55
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 40 .add_property(
56 "squashing",
57 bp::make_function(&Model::get_squashing,
58 40 bp::return_value_policy<bp::return_by_value>()),
59 "squashing")
60
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 40 .add_property(
61 "actuation",
62 bp::make_function(&Model::get_actuation,
63 40 bp::return_value_policy<bp::return_by_value>()),
64 "actuation");
65 40 }
66 };
67
68 template <typename Data>
69 struct ActuationDataSquashingVisitor
70 : public bp::def_visitor<ActuationDataSquashingVisitor<Data>> {
71 template <class PyClass>
72 40 void visit(PyClass& cl) const {
73
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 40 cl.add_property(
74 "squashing",
75 bp::make_getter(&Data::squashing,
76 40 bp::return_value_policy<bp::return_by_value>()),
77 bp::make_setter(&Data::squashing),
78 "Data of the associated squashing model")
79
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 80 .add_property(
80 "actuation",
81 bp::make_getter(&Data::actuation,
82 40 bp::return_value_policy<bp::return_by_value>()),
83 bp::make_setter(&Data::actuation),
84 "Data of the associated actuation model");
85 40 }
86 };
87
88 #define CROCODDYL_ACTUATION_MODEL_SQUASHING_PYTHON_BINDINGS(Scalar) \
89 typedef ActuationSquashingModelTpl<Scalar> Model; \
90 typedef ActuationModelAbstractTpl<Scalar> ModelBase; \
91 typedef SquashingModelAbstractTpl<Scalar> Squashing; \
92 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
93 bp::class_<Model, bp::bases<ModelBase>>( \
94 "ActuationSquashingModel", \
95 "Class for squashing an actuation model.\n\n", \
96 bp::init<std::shared_ptr<ModelBase>, std::shared_ptr<Squashing>, \
97 std::size_t>( \
98 bp::args("self", "actuation", "squashing", "nu"), \
99 "Initialize the actuation model with squashing function.\n\n" \
100 ":param actuation: actuation model to be squashed.\n" \
101 ":param squashing: squashing function.\n" \
102 ":param nu: number of controls")) \
103 .def(ActuationModelSquashingVisitor<Model>()) \
104 .def(CastVisitor<Model>()) \
105 .def(PrintableVisitor<Model>()) \
106 .def(CopyableVisitor<Model>());
107
108 #define CROCODDYL_ACTUATION_DATA_SQUASHING_PYTHON_BINDINGS(Scalar) \
109 typedef ActuationSquashingDataTpl<Scalar> Data; \
110 typedef ActuationDataAbstractTpl<Scalar> DataBase; \
111 typedef ActuationSquashingModelTpl<Scalar> Model; \
112 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
113 bp::class_<Data, bp::bases<DataBase>>( \
114 "ActuationSquashingData", \
115 "Class for actuation datas using squashing functions.\n\n" \
116 "In crocoddyl, an actuation data contains all the required information " \
117 "for processing an user-defined actuation model. The actuation data " \
118 "typically is allocated onces by running via model.createData().", \
119 bp::init<Model*>( \
120 bp::args("self", "model"), \
121 "Create common data shared between actuation models.\n\n" \
122 "The actuation data uses the model in order to first process it.\n" \
123 ":param model: actuation model")) \
124 .def(ActuationDataSquashingVisitor<Data>()) \
125 .def(CopyableVisitor<Data>());
126
127 10 void exposeActuationSquashing() {
128
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTUATION_MODEL_SQUASHING_PYTHON_BINDINGS)
129
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_ACTUATION_DATA_SQUASHING_PYTHON_BINDINGS)
130 10 }
131
132 } // namespace python
133 } // namespace crocoddyl
134