GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/constraint-base.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 52 54 96.3%
Branches: 96 192 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2025, 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 namespace crocoddyl {
12 namespace python {
13
14 template <typename Model>
15 struct ConstraintModelAbstractVisitor
16 : public bp::def_visitor<ConstraintModelAbstractVisitor<Model>> {
17 typedef typename Model::ConstraintModel ConstraintModel;
18 typedef typename Model::ConstraintData ConstraintData;
19 typedef typename Model::State State;
20 typedef typename Model::VectorXs VectorXs;
21 template <class PyClass>
22 40 void visit(PyClass& cl) const {
23 cl
24
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 40 .def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t,
25 std::size_t, bp::optional<bool>>(
26 bp::args("self", "state", "nu", "ng", "nh", "T_const"),
27 "Initialize the constraint model.\n\n"
28 ":param state: state description\n"
29 ":param nu: dimension of control vector (default state.nv)\n"
30 ":param ng: number of inequality constraints\n"
31 ":param nh: number of equality constraints\n"
32 ":param T_const: True if this is a constraint in both running and "
33 "terminal nodes.\n"
34 " False if it is a constraint on running nodes only "
35 "(default true)"))
36
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 80 .def(bp::init<std::shared_ptr<State>, std::size_t, std::size_t,
37 bp::optional<bool>>(
38 bp::args("self", "state", "ng", "nh", "T_const"),
39 "Initialize the constraint model.\n\n"
40 ":param state: state description\n"
41 ":param ng: number of inequality constraints\n"
42 ":param nh: number of equality constraints\n"
43 ":param T_const: True if this is a constraint in both running and "
44 "terminal nodes.\n"
45 " False if it is a constraint on running nodes only "
46 "(default true)"))
47
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 80 .def("calc", pure_virtual(&Model::calc),
48 bp::args("self", "data", "x", "u"),
49 "Compute the constraint value.\n\n"
50 ":param data: constraint data\n"
51 ":param x: state point (dim. state.nx)\n"
52 ":param u: control input (dim. nu)")
53
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 80 .def("calc",
54 static_cast<void (ConstraintModel::*)(
55 const std::shared_ptr<ConstraintData>&,
56 const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calc),
57 bp::args("self", "data", "x"),
58 "Compute the constraint value for nodes that depends only on the "
59 "state.\n\n"
60 "It updates the constraint based on the state only.\n"
61 "This function is commonly used in the terminal nodes of an "
62 "optimal "
63 "control problem.\n"
64 ":param data: constraint data\n"
65 ":param x: state point (dim. state.nx)")
66
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 80 .def("calcDiff", pure_virtual(&Model::calcDiff),
67 bp::args("self", "data", "x", "u"),
68 "Compute the Jacobians of the constraint function.\n\n"
69 "It computes the Jacobians of the constraint function.\n"
70 "It assumes that calc has been run first.\n"
71 ":param data: constraint data\n"
72 ":param x: state point (dim. state.nx)\n"
73 ":param u: control input (dim. nu)\n")
74
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 80 .def(
75 "calcDiff",
76 static_cast<void (ConstraintModel::*)(
77 const std::shared_ptr<ConstraintData>&,
78 const Eigen::Ref<const VectorXs>&)>(&ConstraintModel::calcDiff),
79 bp::args("self", "data", "x"),
80 "Compute the Jacobian of the constraint with respect to the state "
81 "only.\n\n"
82 "It computes the Jacobian of the constraint function based on the "
83 "state only.\n"
84 "This function is commonly used in the terminal nodes of an "
85 "optimal "
86 "control problem.\n"
87 ":param data: constraint data\n"
88 ":param x: state point (dim. state.nx)")
89
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 80 .def("createData", &Model::createData,
90 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
91 bp::args("self", "data"),
92 "Create the constraint data.\n\n"
93 "Each constraint model has its own data that needs to be "
94 "allocated. "
95 "This function\n"
96 "returns the allocated data for a predefined constraint.\n"
97 ":param data: shared data\n"
98 ":return constraint data.")
99
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 40 .def("createData", &Model::default_createData,
100 ✗ bp::with_custodian_and_ward_postcall<0, 2>())
101
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 80 .def("updateBounds", &Model::update_bounds,
102 bp::args("self", "lower", "upper"),
103 "Update the lower and upper bounds.\n\n"
104 ":param lower: lower bound\n"
105 ":param upper: upper bound")
106
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 80 .def("removeBounds", &Model::remove_bounds, bp::args("self"),
107 "Remove the bounds.")
108
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 40 .add_property(
109 "state",
110 bp::make_function(&Model::get_state,
111 40 bp::return_value_policy<bp::return_by_value>()),
112 "state description")
113
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 40 .add_property(
114 "residual",
115 bp::make_function(&Model::get_residual,
116 40 bp::return_value_policy<bp::return_by_value>()),
117 "residual model")
118
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 80 .add_property("type", bp::make_function(&Model::get_type),
119 "type of constraint")
120
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 40 .add_property("lb",
121 bp::make_function(&Model::get_lb,
122 40 bp::return_internal_reference<>()),
123 "lower bound of constraint")
124
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 40 .add_property("ub",
125 bp::make_function(&Model::get_ub,
126 40 bp::return_internal_reference<>()),
127 "upper bound of constraint")
128
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 80 .add_property("nu", bp::make_function(&Model::get_nu),
129 "dimension of control vector")
130
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 80 .add_property("ng", bp::make_function(&Model::get_ng),
131 "number of inequality constraints")
132
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 80 .add_property("nh", bp::make_function(&Model::get_nh),
133 "number of equality constraints")
134
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 40 .add_property(
135 "T_constraint", bp::make_function(&Model::get_T_constraint),
136 "True if the constraint is imposed in terminal nodes as well");
137 40 }
138 };
139
140 template <typename Data>
141 struct ConstraintDataAbstractVisitor
142 : public bp::def_visitor<ConstraintDataAbstractVisitor<Data>> {
143 template <class PyClass>
144 40 void visit(PyClass& cl) const {
145
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 40 cl.add_property(
146 "shared",
147 40 bp::make_getter(&Data::shared, bp::return_internal_reference<>()),
148 "shared data")
149
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 40 .add_property(
150 "residual",
151 bp::make_getter(&Data::residual,
152 40 bp::return_value_policy<bp::return_by_value>()),
153 "residual data")
154
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 80 .add_property(
155 40 "g", bp::make_getter(&Data::g, bp::return_internal_reference<>()),
156 bp::make_setter(&Data::g), "inequality constraint residual")
157
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 80 .add_property(
158 40 "Gx", bp::make_getter(&Data::Gx, bp::return_internal_reference<>()),
159 bp::make_setter(&Data::Gx), "Jacobian of the inequality constraint")
160
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 80 .add_property(
161 40 "Gu", bp::make_getter(&Data::Gu, bp::return_internal_reference<>()),
162 bp::make_setter(&Data::Gu), "Jacobian of the inequality constraint")
163
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 80 .add_property(
164 40 "h", bp::make_getter(&Data::h, bp::return_internal_reference<>()),
165 bp::make_setter(&Data::h), "equality constraint residual")
166
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 80 .add_property(
167 40 "Hx", bp::make_getter(&Data::Hx, bp::return_internal_reference<>()),
168 bp::make_setter(&Data::Hx), "Jacobian of the equality constraint")
169
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 80 .add_property(
170 40 "Hu", bp::make_getter(&Data::Hu, bp::return_internal_reference<>()),
171 bp::make_setter(&Data::Hu), "Jacobian of the equality constraint");
172 40 }
173 };
174
175 #define CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \
176 typedef ConstraintModelAbstractTpl<Scalar> Model; \
177 typedef ConstraintModelAbstractTpl_wrap<Scalar> Model_wrap; \
178 typedef StateAbstractTpl<Scalar> State; \
179 typedef Model::ResidualModelAbstract ResidualModel; \
180 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
181 bp::class_<Model_wrap, boost::noncopyable>( \
182 "ConstraintModelAbstract", \
183 "Abstract multibody constraint models.\n\n" \
184 "A constraint model defines both: inequality g(x,u) and equality h(x, " \
185 "u) constraints. The constraint function depends on the state point x, " \
186 "which lies in the state manifold described with a nx-tuple, its " \
187 "velocity xd that belongs to the tangent space with ndx dimension, and " \
188 "the control input u.", \
189 bp::init<std::shared_ptr<State>, std::shared_ptr<ResidualModel>, \
190 std::size_t, std::size_t>( \
191 bp::args("self", "state", "residual", "ng", "nh"), \
192 "Initialize the constraint model.\n\n" \
193 ":param state: state description\n" \
194 ":param residual: residual model\n" \
195 ":param ng: number of inequality constraints\n" \
196 ":param nh: number of equality constraints")) \
197 .def(ConstraintModelAbstractVisitor<Model_wrap>()) \
198 .def(PrintableVisitor<Model_wrap>()) \
199 .def(CopyableVisitor<Model_wrap>());
200
201 #define CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \
202 typedef ConstraintDataAbstractTpl<Scalar> Data; \
203 typedef ConstraintModelAbstractTpl<Scalar> Model; \
204 typedef Model::DataCollectorAbstract DataCollector; \
205 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
206 bp::class_<Data, boost::noncopyable>( \
207 "ConstraintDataAbstract", "Abstract class for constraint data.\n\n", \
208 bp::init<Model*, DataCollector*>( \
209 bp::args("self", "model", "data"), \
210 "Create common data shared between constraint models.\n\n" \
211 ":param model: constraint model\n" \
212 ":param data: shared data")[bp::with_custodian_and_ward< \
213 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
214 .def(ConstraintDataAbstractVisitor<Data>()) \
215 .def(CopyableVisitor<Data>());
216
217 10 void exposeConstraintAbstract() {
218 20 bp::enum_<ConstraintType>("ConstraintType")
219
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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();
223
224
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONSTRAINT_MODEL_ABSTRACT_PYTHON_BINDINGS)
225
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONSTRAINT_DATA_ABSTRACT_PYTHON_BINDINGS)
226 10 }
227
228 } // namespace python
229 } // namespace crocoddyl
230