GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/constraints/constraint-manager.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 70 75 93.3%
Branches: 145 292 49.7%
Line Branch Exec Source
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 "crocoddyl/core/constraints/constraint-manager.hpp"
10
11 #include <functional>
12 #include <map>
13 #include <memory>
14 #include <string>
15 #include <utility>
16
17 #include "python/crocoddyl/core/action-base.hpp"
18 #include "python/crocoddyl/core/core.hpp"
19 #include "python/crocoddyl/core/diff-action-base.hpp"
20 #include "python/crocoddyl/utils/map-converter.hpp"
21 #include "python/crocoddyl/utils/set-converter.hpp"
22
23 namespace crocoddyl {
24 namespace python {
25
26 template <typename Model>
27 struct ConstraintItemVisitor
28 : public bp::def_visitor<ConstraintItemVisitor<Model>> {
29 template <class PyClass>
30 40 void visit(PyClass& cl) const {
31
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 40 cl.def_readwrite("name", &Model::name, "constraint name")
32
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 40 .add_property(
33 "constraint",
34 bp::make_getter(&Model::constraint,
35 ✗ bp::return_value_policy<bp::return_by_value>()),
36 "constraint model")
37
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 40 .def_readwrite("active", &Model::active, "constraint status");
38 40 }
39 };
40
41 template <typename Model>
42 struct ConstraintModelManagerVisitor
43 : public bp::def_visitor<ConstraintModelManagerVisitor<Model>> {
44
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 40 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(
45 ConstraintModelManager_addConstraint_wrap, Model::addConstraint, 2, 3)
46 typedef typename Model::ConstraintDataManager Data;
47 typedef typename Model::StateAbstract State;
48 typedef typename Model::VectorXs VectorXs;
49 template <class PyClass>
50 40 void visit(PyClass& cl) const {
51
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 40 cl.def(bp::init<std::shared_ptr<State>, std::size_t>(
52 bp::args("self", "state", "nu"),
53 "Initialize the total constraint model.\n\n"
54 "For this case the default nu is equals to model.nv.\n"
55 ":param state: state description\n"
56 ":param nu: dimension of control vector"))
57
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 80 .def(bp::init<std::shared_ptr<State>>(
58 bp::args("self", "state"),
59 "Initialize the total constraint model.\n\n"
60 "For this case the default nu is equals to model.nv.\n"
61 ":param state: state description"))
62 80 .def("addConstraint", &Model::addConstraint,
63
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 80 ConstraintModelManager_addConstraint_wrap(
64 bp::args("self", "name", "constraint", "active"),
65 "Add a constraint item.\n\n"
66 ":param name: constraint name\n"
67 ":param constraint: constraint model\n"
68 ":param active: True if the constraint is activated (default "
69 "true)"))
70
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 80 .def("removeConstraint", &Model::removeConstraint,
71 bp::args("self", "name"),
72 "Remove a constraint item.\n\n"
73 ":param name: constraint name")
74
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 80 .def("changeConstraintStatus", &Model::changeConstraintStatus,
75 bp::args("self", "name", "active"),
76 "Change the constraint status.\n\n"
77 ":param name: constraint name\n"
78 ":param active: constraint status (true for active and false for "
79 "inactive)")
80
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 80 .def(
81 "calc",
82 static_cast<void (Model::*)(
83 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
84 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
85 bp::args("self", "data", "x", "u"),
86 "Compute the total constraint.\n\n"
87 ":param data: constraint-manager data\n"
88 ":param x: state point (dim. state.nx)\n"
89 ":param u: control input (dim. nu)")
90
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 80 .def("calc",
91 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
92 const Eigen::Ref<const VectorXs>&)>(
93 &Model::calc),
94 bp::args("self", "data", "x"),
95 "Compute the total constraint value for nodes that depends only "
96 "on the state.\n\n"
97 "It updates the total constraint based on the state only. This "
98 "function is used in the terminal nodes of an optimal control "
99 "problem.\n"
100 ":param data: constraint-manager data\n"
101 ":param x: state point (dim. state.nx)")
102
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 80 .def(
103 "calcDiff",
104 static_cast<void (Model::*)(
105 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
106 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
107 bp::args("self", "data", "x", "u"),
108 "Compute the derivatives of the total constraint.\n\n"
109 "It assumes that calc has been run first.\n"
110 ":param data: constraint-manager data\n"
111 ":param x: state point (dim. state.nx)\n"
112 ":param u: control input (dim. nu)\n")
113
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 80 .def("calcDiff",
114 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
115 const Eigen::Ref<const VectorXs>&)>(
116 &Model::calcDiff),
117 bp::args("self", "data", "x"),
118 "Compute the Jacobian of the total constraint for nodes that "
119 "depends on the state only.\n\n"
120 "It updates the Jacobian of the total constraint based on the "
121 "state only. This function is used in the terminal nodes of an "
122 "optimal control problem.\n"
123 ":param data: constraint-manager data\n"
124 ":param x: state point (dim. state.nx)")
125
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 80 .def("createData", &Model::createData,
126 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
127 bp::args("self", "data"),
128 "Create the total constraint data.\n\n"
129 ":param data: shared data\n"
130 ":return total constraint data.")
131
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 40 .add_property(
132 "state",
133 bp::make_function(&Model::get_state,
134 40 bp::return_value_policy<bp::return_by_value>()),
135 "state description")
136
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 40 .add_property(
137 "constraints",
138 bp::make_function(&Model::get_constraints,
139 40 bp::return_value_policy<bp::return_by_value>()),
140 "stack of constraints")
141
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 80 .add_property("nu", bp::make_function(&Model::get_nu),
142 "dimension of control vector")
143
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 80 .add_property("ng", bp::make_function(&Model::get_ng),
144 "number of active inequality constraints")
145
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 80 .add_property("nh", bp::make_function(&Model::get_nh),
146 "number of active equality constraints")
147
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 80 .add_property("ng_T", bp::make_function(&Model::get_ng_T),
148 "number of active inequality terminal constraints")
149
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 80 .add_property("nh_T", bp::make_function(&Model::get_nh_T),
150 "number of active equality terminal constraints")
151
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 40 .add_property(
152 "active_set",
153 bp::make_function(&Model::get_active_set,
154 40 bp::return_value_policy<bp::return_by_value>()),
155 "name of the active set of constraint items")
156
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 40 .add_property(
157 "inactive_set",
158 bp::make_function(&Model::get_inactive_set,
159 40 bp::return_value_policy<bp::return_by_value>()),
160 "name of the inactive set of constraint items")
161
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 40 .add_property("g_lb",
162 bp::make_function(&Model::get_lb,
163 40 bp::return_internal_reference<>()),
164 "lower bound of the inequality constraints")
165
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 40 .add_property("g_ub",
166 bp::make_function(&Model::get_ub,
167 40 bp::return_internal_reference<>()),
168 "upper bound of the inequality constraints")
169
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 40 .def("getConstraintStatus", &Model::getConstraintStatus,
170 bp::args("self", "name"),
171 "Return the constraint status of a given constraint name.\n\n"
172 ":param name: constraint name");
173 40 }
174 };
175
176 template <typename Data>
177 struct ConstraintDataManagerVisitor
178 : public bp::def_visitor<ConstraintDataManagerVisitor<Data>> {
179 40 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resizeConst_wrap,
180 Data::resize, 1, 2)
181 80 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resize_wrap,
182 Data::resize, 2, 3)
183 typedef typename Data::Scalar Scalar;
184 typedef ConstraintModelManagerTpl<Scalar> Model;
185 typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModel;
186 typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionData;
187 typedef ActionModelAbstractTpl<Scalar> ActionModel;
188 typedef ActionDataAbstractTpl<Scalar> ActionData;
189 template <class PyClass>
190 40 void visit(PyClass& cl) const {
191 40 cl.def(
192 "shareMemory", &Data::template shareMemory<DifferentialActionData>,
193 bp::args("self", "data"),
194 "Share memory with a given differential action data\n\n"
195 ":param model: differential action data that we want to share memory")
196
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 80 .def("shareMemory", &Data::template shareMemory<ActionData>,
197 bp::args("self", "data"),
198 "Share memory with a given action data\n\n"
199 ":param model: action data that we want to share memory")
200
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 40 .def("resize", &Data::template resize<Model>,
201 ✗ bp::with_custodian_and_ward_postcall<0, 1>(),
202
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 80 ConstraintDataManager_resizeConst_wrap(
203 bp::args("self", "model", "running_node"),
204 "Resize the data given differential action data\n\n"
205 ":param model: constraint manager model that defines how to "
206 "resize "
207 "the data\n"
208 ":param running_node: true if we are resizing for a running "
209 "node, false for terminal ones (default true)"))
210
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 40 .def(
211 "resize",
212 &Data::template resize<DifferentialActionModel,
213 DifferentialActionData>,
214 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
215
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 80 ConstraintDataManager_resize_wrap(
216 bp::args("self", "model", "data", "running_node"),
217 "Resize the data given differential action data\n\n"
218 ":param model: differential action model that defines how to "
219 "resize "
220 "the data\n"
221 ":param data: differential action data that we want to resize\n"
222 ":param running_node: true if we are resizing for a running "
223 "node, false for terminal ones (default true)"))
224
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 40 .def("resize", &Data::template resize<ActionModel, ActionData>,
225 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
226
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 80 ConstraintDataManager_resize_wrap(
227 bp::args("self", "model", "data", "running_node"),
228 "Resize the data given action data\n\n"
229 ":param model: action model that defines how to resize the "
230 "data\n"
231 ":param data: action data that we want to resize\n"
232 ":param running_node: true if we are resizing for a running "
233 "node, false for terminal ones (default true)"))
234
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 40 .add_property(
235 "constraints",
236 bp::make_getter(&Data::constraints,
237 40 bp::return_value_policy<bp::return_by_value>()),
238 "stack of constraints data")
239
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 40 .add_property(
240 "shared",
241 40 bp::make_getter(&Data::shared, bp::return_internal_reference<>()),
242 "shared data")
243
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 80 .add_property(
244 "g",
245 bp::make_function(&Data::get_g,
246 40 bp::return_value_policy<bp::return_by_value>()),
247 bp::make_function(&Data::set_g), "Inequality constraint residual")
248
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 80 .add_property(
249 "Gx",
250 bp::make_function(&Data::get_Gx,
251 40 bp::return_value_policy<bp::return_by_value>()),
252 bp::make_function(&Data::set_Gx),
253 "Jacobian of the inequality constraint")
254
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 80 .add_property(
255 "Gu",
256 bp::make_function(&Data::get_Gu,
257 40 bp::return_value_policy<bp::return_by_value>()),
258 bp::make_function(&Data::set_Gu),
259 "Jacobian of the inequality constraint")
260
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 80 .add_property(
261 "h",
262 bp::make_function(&Data::get_h,
263 40 bp::return_value_policy<bp::return_by_value>()),
264 bp::make_function(&Data::set_h), "Equality constraint residual")
265
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 80 .add_property(
266 "Hx",
267 bp::make_function(&Data::get_Hx,
268 40 bp::return_value_policy<bp::return_by_value>()),
269 bp::make_function(&Data::set_Hx),
270 "Jacobian of the equality constraint")
271
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 80 .add_property(
272 "Hu",
273 bp::make_function(&Data::get_Hu,
274 40 bp::return_value_policy<bp::return_by_value>()),
275 bp::make_function(&Data::set_Hu),
276 "Jacobian of the equality constraint");
277 40 }
278 };
279
280 #define CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS(Scalar) \
281 typedef ConstraintItemTpl<Scalar> Model; \
282 typedef Model::ConstraintModelAbstract ConstraintModel; \
283 typedef std::shared_ptr<Model> ConstraintItemPtr; \
284 StdMapPythonVisitor< \
285 std::string, ConstraintItemPtr, std::less<std::string>, \
286 std::allocator<std::pair<const std::string, ConstraintItemPtr>>, \
287 true>::expose("StdMap_ConstraintItem"); \
288 typedef ConstraintDataAbstractTpl<Scalar> ConstraintData; \
289 typedef std::shared_ptr<ConstraintData> ConstraintDataPtr; \
290 StdMapPythonVisitor< \
291 std::string, ConstraintDataPtr, std::less<std::string>, \
292 std::allocator<std::pair<const std::string, ConstraintDataPtr>>, \
293 true>::expose("StdMap_ConstraintData"); \
294 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
295 bp::class_<Model>("ConstraintItem", "Describe a constraint item.\n\n", \
296 bp::init<std::string, std::shared_ptr<ConstraintModel>, \
297 bp::optional<bool>>( \
298 bp::args("self", "name", "constraint", "active"), \
299 "Initialize the constraint item.\n\n" \
300 ":param name: constraint name\n" \
301 ":param constraint: constraint model\n" \
302 ":param active: True if the constraint is activated " \
303 "(default true)")) \
304 .def(ConstraintItemVisitor<Model>()) \
305 .def(CastVisitor<Model>()) \
306 .def(PrintableVisitor<Model>()) \
307 .def(CopyableVisitor<Model>());
308
309 #define CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS(Scalar) \
310 typedef ConstraintModelManagerTpl<Scalar> Model; \
311 typedef Model::StateAbstract State; \
312 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
313 bp::class_<Model>("ConstraintModelManager", \
314 bp::init<std::shared_ptr<State>, std::size_t>( \
315 bp::args("self", "state", "nu"), \
316 "Initialize the total constraint model.\n\n" \
317 ":param state: state description\n" \
318 ":param nu: dimension of control vector")) \
319 .def(ConstraintModelManagerVisitor<Model>()) \
320 .def(CastVisitor<Model>()) \
321 .def(PrintableVisitor<Model>()) \
322 .def(CopyableVisitor<Model>());
323
324 #define CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS(Scalar) \
325 typedef ConstraintDataManagerTpl<Scalar> Data; \
326 typedef ConstraintModelManagerTpl<Scalar> Model; \
327 typedef Model::DataCollectorAbstract DataCollector; \
328 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
329 bp::class_<Data>( \
330 "ConstraintDataManager", "Class for total constraint data.\n\n", \
331 bp::init<Model*, DataCollector*>( \
332 bp::args("self", "model", "data"), \
333 "Create total constraint data.\n\n" \
334 ":param model: total constraint model\n" \
335 ":param data: shared data")[bp::with_custodian_and_ward<1, 3>()]) \
336 .def(ConstraintDataManagerVisitor<Data>()) \
337 .def(CopyableVisitor<Data>());
338
339 10 void exposeConstraintManager() {
340
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONSTRAINT_ITEM_PYTHON_BINDINGS)
341
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONSTRAINT_MODEL_MANAGER_PYTHON_BINDINGS)
342
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONSTRAINT_DATA_MANAGER_PYTHON_BINDINGS)
343 10 }
344
345 } // namespace python
346 } // namespace crocoddyl
347