GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/contacts/contact-3d.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 39 40 97.5%
Branches: 73 146 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/contacts/contact-3d.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ContactModel3DVisitor
19 : public bp::def_visitor<ContactModel3DVisitor<Model>> {
20 typedef typename Model::StateMultibody State;
21 typedef typename Model::Vector3s Vector3s;
22 typedef typename Model::Vector2s Vector2s;
23 template <class PyClass>
24 40 void visit(PyClass& cl) const {
25
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 40 cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector3s,
26 pinocchio::ReferenceFrame, bp::optional<Vector2s>>(
27 bp::args("self", "state", "id", "xref", "type", "gains"),
28 "Initialize the contact model.\n\n"
29 ":param state: state of the multibody system\n"
30 ":param id: reference frame id of the contact\n"
31 ":param xref: contact position used for the Baumgarte "
32 "stabilization\n"
33 ":param type: type of contact\n"
34 ":param gains: gains of the contact model (default "
35 "np.matrix([0.,0.]))"))
36
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 80 .def("calc", &Model::calc, bp::args("self", "data", "x"),
37 "Compute the 3d contact Jacobian and drift.\n\n"
38 "The rigid contact model throught acceleration-base holonomic "
39 "constraint of the contact frame placement.\n"
40 ":param data: contact data\n"
41 ":param x: state point (dim. state.nx)")
42
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 80 .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"),
43 "Compute the derivatives of the 3d contact holonomic "
44 "constraint.\n\n"
45 "The rigid contact model throught acceleration-base holonomic "
46 "constraint of the contact frame placement. It assumes that calc "
47 "has been run first.\n"
48 ":param data: cost data\n"
49 ":param x: state point (dim. state.nx)")
50
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 80 .def("updateForce", &Model::updateForce,
51 bp::args("self", "data", "force"),
52 "Convert the force into a stack of spatial forces.\n\n"
53 ":param data: cost data\n"
54 ":param force: force vector (dimension 3)")
55
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 80 .def("createData", &Model::createData,
56 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
57 bp::args("self", "data"),
58 "Create the 3D contact data.\n\n"
59 "Each contact model has its own data that needs to be allocated. "
60 "This function returns the allocated data for a predefined cost.\n"
61 ":param data: Pinocchio data\n"
62 ":return contact data.")
63
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 80 .add_property("reference",
64 bp::make_function(&Model::get_reference,
65 40 bp::return_internal_reference<>()),
66 &Model::set_reference, "reference contact translation")
67
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 80 .add_property(
68 "gains",
69 bp::make_function(&Model::get_gains,
70 40 bp::return_value_policy<bp::return_by_value>()),
71 "contact gains");
72 40 }
73 };
74
75 template <typename Data>
76 struct ContactData3DVisitor
77 : public bp::def_visitor<ContactData3DVisitor<Data>> {
78 template <class PyClass>
79 40 void visit(PyClass& cl) const {
80
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 40 cl.add_property(
81 "v",
82 bp::make_getter(&Data::v,
83 40 bp::return_value_policy<bp::return_by_value>()),
84 "spatial velocity of the contact body")
85
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 80 .add_property(
86 "a0_local",
87 40 bp::make_getter(&Data::a0_local, bp::return_internal_reference<>()),
88 bp::make_setter(&Data::a0_local),
89 "desired local contact acceleration")
90
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 80 .add_property(
91 40 "dp", bp::make_getter(&Data::dp, bp::return_internal_reference<>()),
92 bp::make_setter(&Data::dp),
93 "Translation error computed for the Baumgarte regularization term")
94
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 80 .add_property(
95 "dp_local",
96 40 bp::make_getter(&Data::dp_local, bp::return_internal_reference<>()),
97 bp::make_setter(&Data::dp_local),
98 "local translation error computed for the Baumgarte "
99 "regularization term")
100
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 80 .add_property(
101 "f_local",
102 40 bp::make_getter(&Data::f_local, bp::return_internal_reference<>()),
103 bp::make_setter(&Data::f_local),
104 "spatial contact force in local coordinates")
105
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 80 .add_property("da0_local_dx",
106 bp::make_getter(&Data::da0_local_dx,
107 40 bp::return_internal_reference<>()),
108 bp::make_setter(&Data::da0_local_dx),
109 "Jacobian of the desired local contact acceleration")
110
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 40 .add_property(
111 "fJf",
112 40 bp::make_getter(&Data::fJf, bp::return_internal_reference<>()),
113 "local Jacobian of the contact frame")
114
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 40 .add_property("v_partial_dq",
115 bp::make_getter(&Data::v_partial_dq,
116 40 bp::return_internal_reference<>()),
117 "Jacobian of the spatial body velocity")
118
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 40 .add_property("a_partial_dq",
119 bp::make_getter(&Data::a_partial_dq,
120 40 bp::return_internal_reference<>()),
121 "Jacobian of the spatial body acceleration")
122
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 40 .add_property("a_partial_dv",
123 bp::make_getter(&Data::a_partial_dv,
124 40 bp::return_internal_reference<>()),
125 "Jacobian of the spatial body acceleration")
126
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 40 .add_property("a_partial_da",
127 bp::make_getter(&Data::a_partial_da,
128 40 bp::return_internal_reference<>()),
129 "Jacobian of the spatial body acceleration");
130 40 }
131 };
132
133 #define CROCODDYL_CONTACT_MODEL_3D_PYTHON_BINDINGS(Scalar) \
134 typedef ContactModel3DTpl<Scalar> Model; \
135 typedef ContactModelAbstractTpl<Scalar> ModelBase; \
136 typedef Model::StateMultibody State; \
137 typedef Model::Vector3s Vector3s; \
138 typedef Model::Vector2s Vector2s; \
139 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
140 bp::class_<Model, bp::bases<ModelBase>>( \
141 "ContactModel3D", \
142 "Rigid 3D contact model.\n\n" \
143 "It defines a rigid 3D contact models (point contact) based on " \
144 "acceleration-based holonomic constraints. The calc and calcDiff " \
145 "functions compute the contact Jacobian and drift (holonomic " \
146 "constraint) or the derivatives of the holonomic constraint, " \
147 "respectively.", \
148 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector3s, \
149 pinocchio::ReferenceFrame, \
150 bp::optional<std::size_t, Vector2s>>( \
151 bp::args("self", "state", "id", "xref", "type", "nu", "gains"), \
152 "Initialize the contact model.\n\n" \
153 ":param state: state of the multibody system\n" \
154 ":param id: reference frame id of the contact\n" \
155 ":param xref: contact position used for the Baumgarte " \
156 "stabilization\n" \
157 ":param type: type of contact\n" \
158 ":param nu: dimension of control vector (default state.nv)\n" \
159 ":param gains: gains of the contact model (default " \
160 "np.array([0.,0.]))")) \
161 .def(ContactModel3DVisitor<Model>()) \
162 .def(CastVisitor<Model>()) \
163 .def(PrintableVisitor<Model>()) \
164 .def(CopyableVisitor<Model>());
165
166 #define CROCODDYL_CONTACT_DATA_3D_PYTHON_BINDINGS(Scalar) \
167 typedef ContactData3DTpl<Scalar> Data; \
168 typedef ContactDataAbstractTpl<Scalar> DataBase; \
169 typedef ContactModel3DTpl<Scalar> Model; \
170 typedef pinocchio::DataTpl<Scalar> PinocchioData; \
171 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
172 bp::class_<Data, bp::bases<DataBase>>( \
173 "ContactData3D", "Data for 3D contact.\n\n", \
174 bp::init<Model*, PinocchioData*>( \
175 bp::args("self", "model", "data"), \
176 "Create 3D contact data.\n\n" \
177 ":param model: 3D contact model\n" \
178 ":param data: Pinocchio data")[bp::with_custodian_and_ward< \
179 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
180 .def(ContactData3DVisitor<Data>()) \
181 .def(CopyableVisitor<Data>());
182
183 10 void exposeContact3D() {
184 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has
185 // been removed in a future release
186 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
187
188
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_MODEL_3D_PYTHON_BINDINGS)
189
190 #pragma GCC diagnostic pop
191
192
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_DATA_3D_PYTHON_BINDINGS)
193 10 }
194
195 } // namespace python
196 } // namespace crocoddyl
197