GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/com-position.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 31 33 93.9%
Branches: 24 48 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/multibody/residuals/com-position.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeResidualCoMPosition() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualModelCoMPosition> >();
19
20
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 10 bp::class_<ResidualModelCoMPosition, bp::bases<ResidualModelAbstract> >(
21 "ResidualModelCoMPosition",
22 "This residual function defines the CoM tracking as r = c - cref, with c "
23 "and cref as the current and reference "
24 "CoM position, respectively.",
25
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 10 bp::init<boost::shared_ptr<StateMultibody>, Eigen::Vector3d, std::size_t>(
26 20 bp::args("self", "state", "cref", "nu"),
27 "Initialize the CoM position residual model.\n\n"
28 ":param state: state of the multibody system\n"
29 ":param cref: reference CoM position\n"
30 ":param nu: dimension of control vector"))
31
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 10 .def(bp::init<boost::shared_ptr<StateMultibody>, Eigen::Vector3d>(
32
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 20 bp::args("self", "state", "cref"),
33 "Initialize the CoM position residual model.\n\n"
34 "The default nu is obtained from state.nv.\n"
35 ":param state: state of the multibody system\n"
36 ":param cref: reference CoM position"))
37 .def<void (ResidualModelCoMPosition::*)(
38 const boost::shared_ptr<ResidualDataAbstract>&,
39 const Eigen::Ref<const Eigen::VectorXd>&,
40
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
41 "calc", &ResidualModelCoMPosition::calc,
42
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 20 bp::args("self", "data", "x", "u"),
43 "Compute the CoM position residual.\n\n"
44 ":param data: residual data\n"
45 ":param x: state point (dim. state.nx)\n"
46 ":param u: control input (dim. nu)")
47 .def<void (ResidualModelCoMPosition::*)(
48 const boost::shared_ptr<ResidualDataAbstract>&,
49 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
50
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
51 .def<void (ResidualModelCoMPosition::*)(
52 const boost::shared_ptr<ResidualDataAbstract>&,
53 const Eigen::Ref<const Eigen::VectorXd>&,
54
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
55 "calcDiff", &ResidualModelCoMPosition::calcDiff,
56
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 20 bp::args("self", "data", "x", "u"),
57 "Compute the Jacobians of the CoM position residual.\n\n"
58 "It assumes that calc has been run first.\n"
59 ":param data: action data\n"
60 ":param x: state point (dim. state.nx)\n"
61 ":param u: control input (dim. nu)")
62 .def<void (ResidualModelCoMPosition::*)(
63 const boost::shared_ptr<ResidualDataAbstract>&,
64 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
65 "calcDiff", &ResidualModelAbstract::calcDiff,
66
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 20 bp::args("self", "data", "x"))
67
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 20 .def("createData", &ResidualModelCoMPosition::createData,
68 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
69
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 20 bp::args("self", "data"),
70 "Create the CoM position residual data.\n\n"
71 "Each residual model has its own data that needs to be allocated. "
72 "This function\n"
73 "returns the allocated data for a predefined residual.\n"
74 ":param data: shared data\n"
75 ":return residual data.")
76
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 10 .add_property("reference",
77
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 10 bp::make_function(&ResidualModelCoMPosition::get_reference,
78 10 bp::return_internal_reference<>()),
79 &ResidualModelCoMPosition::set_reference,
80 "reference CoM position")
81
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 10 .def(CopyableVisitor<ResidualModelCoMPosition>());
82
83 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualDataCoMPosition> >();
84
85
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 10 bp::class_<ResidualDataCoMPosition, bp::bases<ResidualDataAbstract> >(
86 "ResidualDataCoMPosition", "Data for CoM position residual.\n\n",
87
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 10 bp::init<ResidualModelCoMPosition*, DataCollectorAbstract*>(
88 10 bp::args("self", "model", "data"),
89 "Create CoM position residual data.\n\n"
90 ":param model: CoM position residual model\n"
91 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
92
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("pinocchio",
94
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 10 bp::make_getter(&ResidualDataCoMPosition::pinocchio,
95 10 bp::return_internal_reference<>()),
96 "pinocchio data")
97
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 10 .def(CopyableVisitor<ResidualDataCoMPosition>());
98 10 }
99
100 } // namespace python
101 } // namespace crocoddyl
102