GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/constraint-base.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 83 92 90.2%
Branches: 74 148 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "python/crocoddyl/core/constraint-base.hpp"
10
11 #include "python/crocoddyl/utils/copyable.hpp"
12 #include "python/crocoddyl/utils/printable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeConstraintAbstract() {
18 10 bp::register_ptr_to_python<std::shared_ptr<ConstraintModelAbstract> >();
19
20 20 bp::enum_<ConstraintType>("ConstraintType")
21
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 10 .value("Inequality", Inequality)
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 10 .value("Equality", Equality)
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 10 .value("Both", Both)
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 10 .export_values();
25
26
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 10 bp::class_<ConstraintModelAbstract_wrap, boost::noncopyable>(
27 "ConstraintModelAbstract",
28 "Abstract multibody constraint models.\n\n"
29 "A constraint model defines both: inequality g(x,u) and equality h(x, u) "
30 "constraints.\n"
31 "The constraint function depends on the state point x, which lies in the "
32 "state manifold\n"
33 "described with a nx-tuple, its velocity xd that belongs to the tangent "
34 "space with ndx dimension,\n"
35 "and the control input u.",
36
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 10 bp::init<std::shared_ptr<StateAbstract>,
37 std::shared_ptr<ResidualModelAbstract>, std::size_t,
38 20 std::size_t>(bp::args("self", "state", "residual", "ng", "nh"),
39 "Initialize the constraint model.\n\n"
40 ":param state: state description\n"
41 ":param residual: residual model\n"
42 ":param ng: number of inequality constraints\n"
43 ":param nh: number of equality constraints"))
44
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 10 .def(bp::init<std::shared_ptr<StateAbstract>, std::size_t, std::size_t,
45 std::size_t, bp::optional<bool> >(
46
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 20 bp::args("self", "state", "nu", "ng", "nh", "T_const"),
47 "Initialize the constraint model.\n\n"
48 ":param state: state description\n"
49 ":param nu: dimension of control vector (default state.nv)\n"
50 ":param ng: number of inequality constraints\n"
51 ":param nh: number of equality constraints\n"
52 ":param T_const: True if this is a constraint in both running and "
53 "terminal nodes.\n"
54 " False if it is a constraint on running nodes only "
55 "(default true)"))
56
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 10 .def(bp::init<std::shared_ptr<StateAbstract>, std::size_t, std::size_t,
57 bp::optional<bool> >(
58
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 20 bp::args("self", "state", "ng", "nh", "T_const"),
59 "Initialize the constraint model.\n\n"
60 ":param state: state description\n"
61 ":param ng: number of inequality constraints\n"
62 ":param nh: number of equality constraints\n"
63 ":param T_const: True if this is a constraint in both running and "
64 "terminal nodes.\n"
65 " False if it is a constraint on running nodes only "
66 "(default true)"))
67
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 10 .def("calc", pure_virtual(&ConstraintModelAbstract_wrap::calc),
68
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 20 bp::args("self", "data", "x", "u"),
69 "Compute the constraint value.\n\n"
70 ":param data: constraint data\n"
71 ":param x: state point (dim. state.nx)\n"
72 ":param u: control input (dim. nu)")
73 .def<void (ConstraintModelAbstract::*)(
74 const std::shared_ptr<ConstraintDataAbstract>&,
75 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
76
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 20 "calc", &ConstraintModelAbstract::calc, bp::args("self", "data", "x"),
77 "Compute the constraint value for nodes that depends only on the "
78 "state.\n\n"
79 "It updates the constraint based on the state only.\n"
80 "This function is commonly used in the terminal nodes of an optimal "
81 "control problem.\n"
82 ":param data: constraint data\n"
83 ":param x: state point (dim. state.nx)")
84
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 20 .def("calcDiff", pure_virtual(&ConstraintModelAbstract_wrap::calcDiff),
85
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 20 bp::args("self", "data", "x", "u"),
86 "Compute the Jacobians of the constraint function.\n\n"
87 "It computes the Jacobians of the constraint function.\n"
88 "It assumes that calc has been run first.\n"
89 ":param data: constraint data\n"
90 ":param x: state point (dim. state.nx)\n"
91 ":param u: control input (dim. nu)\n")
92 .def<void (ConstraintModelAbstract::*)(
93 const std::shared_ptr<ConstraintDataAbstract>&,
94 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
95 "calcDiff", &ConstraintModelAbstract::calcDiff,
96
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 20 bp::args("self", "data", "x"),
97 "Compute the Jacobian of the constraint with respect to the state "
98 "only.\n\n"
99 "It computes the Jacobian of the constraint function based on the "
100 "state only.\n"
101 "This function is commonly used in the terminal nodes of an optimal "
102 "control problem.\n"
103 ":param data: constraint data\n"
104 ":param x: state point (dim. state.nx)")
105
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 20 .def("createData", &ConstraintModelAbstract_wrap::createData,
106 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
107
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 20 bp::args("self", "data"),
108 "Create the constraint data.\n\n"
109 "Each constraint model has its own data that needs to be allocated. "
110 "This function\n"
111 "returns the allocated data for a predefined constraint.\n"
112 ":param data: shared data\n"
113 ":return constraint data.")
114
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 10 .def("createData", &ConstraintModelAbstract_wrap::default_createData,
115 ✗ bp::with_custodian_and_ward_postcall<0, 2>())
116
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 10 .def("updateBounds", &ConstraintModelAbstract_wrap::update_bounds,
117
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 20 bp::args("self", "lower", "upper"),
118 "Update the lower and upper bounds.\n\n"
119 ":param lower: lower bound\n"
120 ":param upper: upper bound")
121
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 10 .def("removeBounds", &ConstraintModelAbstract_wrap::remove_bounds,
122
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 20 bp::args("self"), "Remove the bounds.")
123
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 10 .add_property(
124 "state",
125
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 10 bp::make_function(&ConstraintModelAbstract_wrap::get_state,
126 10 bp::return_value_policy<bp::return_by_value>()),
127 "state description")
128
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 10 .add_property(
129 "residual",
130
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 10 bp::make_function(&ConstraintModelAbstract_wrap::get_residual,
131 10 bp::return_value_policy<bp::return_by_value>()),
132 "residual model")
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 10 .add_property("type",
134
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 20 bp::make_function(&ConstraintModelAbstract_wrap::get_type),
135 "type of constraint")
136
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 10 .add_property("lb",
137
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 10 bp::make_function(&ConstraintModelAbstract_wrap::get_lb,
138 10 bp::return_internal_reference<>()),
139 "lower bound of constraint")
140
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 10 .add_property("ub",
141
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 10 bp::make_function(&ConstraintModelAbstract_wrap::get_ub,
142 10 bp::return_internal_reference<>()),
143 "upper bound of constraint")
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 10 .add_property("nu",
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 20 bp::make_function(&ConstraintModelAbstract_wrap::get_nu),
146 "dimension of control vector")
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 10 .add_property("ng",
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 20 bp::make_function(&ConstraintModelAbstract_wrap::get_ng),
149 "number of inequality constraints")
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 10 .add_property("nh",
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 20 bp::make_function(&ConstraintModelAbstract_wrap::get_nh),
152 "number of equality constraints")
153
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 10 .add_property(
154 "T_constraint",
155
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 20 bp::make_function(&ConstraintModelAbstract_wrap::get_T_constraint),
156 "True if the constraint is imposed in terminal nodes as well")
157
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 10 .def(PrintableVisitor<ConstraintModelAbstract>());
158
159 10 bp::register_ptr_to_python<std::shared_ptr<ConstraintDataAbstract> >();
160
161
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 10 bp::class_<ConstraintDataAbstract>(
162 "ConstraintDataAbstract", "Abstract class for constraint data.\n\n",
163
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 10 bp::init<ConstraintModelAbstract*, DataCollectorAbstract*>(
164 10 bp::args("self", "model", "data"),
165 "Create common data shared between constraint models.\n\n"
166 ":param model: constraint model\n"
167 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
168
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
169
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 10 .add_property("shared",
170
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 10 bp::make_getter(&ConstraintDataAbstract::shared,
171 10 bp::return_internal_reference<>()),
172 "shared data")
173
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 10 .add_property(
174 "residual",
175
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 10 bp::make_getter(&ConstraintDataAbstract::residual,
176 10 bp::return_value_policy<bp::return_by_value>()),
177 "residual data")
178
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 10 .add_property("g",
179
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 10 bp::make_getter(&ConstraintDataAbstract::g,
180 ✗ bp::return_internal_reference<>()),
181
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 20 bp::make_setter(&ConstraintDataAbstract::g),
182 "inequality constraint residual")
183
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 10 .add_property("Gx",
184
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 10 bp::make_getter(&ConstraintDataAbstract::Gx,
185 ✗ bp::return_internal_reference<>()),
186
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 20 bp::make_setter(&ConstraintDataAbstract::Gx),
187 "Jacobian of the inequality constraint")
188
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 10 .add_property("Gu",
189
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 10 bp::make_getter(&ConstraintDataAbstract::Gu,
190 ✗ bp::return_internal_reference<>()),
191
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 20 bp::make_setter(&ConstraintDataAbstract::Gu),
192 "Jacobian of the inequality constraint")
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 10 .add_property("h",
194
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 10 bp::make_getter(&ConstraintDataAbstract::h,
195 ✗ bp::return_internal_reference<>()),
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 20 bp::make_setter(&ConstraintDataAbstract::h),
197 "equality constraint residual")
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 10 .add_property("Hx",
199
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 10 bp::make_getter(&ConstraintDataAbstract::Hx,
200 ✗ bp::return_internal_reference<>()),
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 20 bp::make_setter(&ConstraintDataAbstract::Hx),
202 "Jacobian of the equality constraint")
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 10 .add_property("Hu",
204
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205 ✗ bp::return_internal_reference<>()),
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207 "Jacobian of the equality constraint")
208
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 10 .def(CopyableVisitor<ConstraintDataAbstract>());
209 10 }
210
211 } // namespace python
212 } // namespace crocoddyl
213