GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/contacts/contact-3d.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 60 67 89.6%
Branches: 49 98 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, 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 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeContact3D() {
19 10 bp::register_ptr_to_python<boost::shared_ptr<ContactModel3D> >();
20
21 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has
22 // been removed in a future release
23 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
24
25
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 10 bp::class_<ContactModel3D, bp::bases<ContactModelAbstract> >(
26 "ContactModel3D",
27 "Rigid 3D contact model.\n\n"
28 "It defines a rigid 3D contact models (point contact) based on "
29 "acceleration-based holonomic constraints.\n"
30 "The calc and calcDiff functions compute the contact Jacobian and drift "
31 "(holonomic constraint) or\n"
32 "the derivatives of the holonomic constraint, respectively.",
33
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 10 bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
34 Eigen::Vector3d, pinocchio::ReferenceFrame,
35 bp::optional<std::size_t, Eigen::Vector2d> >(
36 20 bp::args("self", "state", "id", "xref", "type", "nu", "gains"),
37 "Initialize the contact model.\n\n"
38 ":param state: state of the multibody system\n"
39 ":param id: reference frame id of the contact\n"
40 ":param xref: contact position used for the Baumgarte stabilization\n"
41 ":param type: type of contact\n"
42 ":param nu: dimension of control vector (default state.nv)\n"
43 ":param gains: gains of the contact model (default "
44 "np.array([0.,0.]))"))
45
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 10 .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
46 Eigen::Vector3d, pinocchio::ReferenceFrame,
47 bp::optional<Eigen::Vector2d> >(
48
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 20 bp::args("self", "state", "id", "xref", "type", "gains"),
49 "Initialize the contact model.\n\n"
50 ":param state: state of the multibody system\n"
51 ":param id: reference frame id of the contact\n"
52 ":param xref: contact position used for the Baumgarte stabilization\n"
53 ":param type: type of contact\n"
54 ":param gains: gains of the contact model (default "
55 "np.matrix([0.,0.]))"))
56
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 20 .def("calc", &ContactModel3D::calc, bp::args("self", "data", "x"),
57 "Compute the 3d contact Jacobian and drift.\n\n"
58 "The rigid contact model throught acceleration-base holonomic "
59 "constraint\n"
60 "of the contact frame placement.\n"
61 ":param data: contact data\n"
62 ":param x: state point (dim. state.nx)")
63
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 20 .def("calcDiff", &ContactModel3D::calcDiff, bp::args("self", "data", "x"),
64 "Compute the derivatives of the 3d contact holonomic constraint.\n\n"
65 "The rigid contact model throught acceleration-base holonomic "
66 "constraint\n"
67 "of the contact frame placement.\n"
68 "It assumes that calc has been run first.\n"
69 ":param data: cost data\n"
70 ":param x: state point (dim. state.nx)")
71
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 10 .def("updateForce", &ContactModel3D::updateForce,
72
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 20 bp::args("self", "data", "force"),
73 "Convert the force into a stack of spatial forces.\n\n"
74 ":param data: cost data\n"
75 ":param force: force vector (dimension 3)")
76
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 10 .def("createData", &ContactModel3D::createData,
77 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
78
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 20 bp::args("self", "data"),
79 "Create the 3D contact data.\n\n"
80 "Each contact model has its own data that needs to be allocated. "
81 "This function\n"
82 "returns the allocated data for a predefined cost.\n"
83 ":param data: Pinocchio data\n"
84 ":return contact data.")
85
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 10 .add_property("reference",
86
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 10 bp::make_function(&ContactModel3D::get_reference,
87 10 bp::return_internal_reference<>()),
88 &ContactModel3D::set_reference,
89 "reference contact translation")
90
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 10 .add_property(
91 "gains",
92
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 10 bp::make_function(&ContactModel3D::get_gains,
93 10 bp::return_value_policy<bp::return_by_value>()),
94 "contact gains")
95
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 10 .def(CopyableVisitor<ContactModel3D>());
96
97 #pragma GCC diagnostic pop
98
99 10 bp::register_ptr_to_python<boost::shared_ptr<ContactData3D> >();
100
101
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 10 bp::class_<ContactData3D, bp::bases<ContactDataAbstract> >(
102 "ContactData3D", "Data for 3D contact.\n\n",
103
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 10 bp::init<ContactModel3D*, pinocchio::Data*>(
104 10 bp::args("self", "model", "data"),
105 "Create 3D contact data.\n\n"
106 ":param model: 3D contact model\n"
107 ✗ ":param data: Pinocchio data")[bp::with_custodian_and_ward<
108
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
109
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 10 .add_property(
110 "v",
111
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 10 bp::make_getter(&ContactData3D::v,
112 10 bp::return_value_policy<bp::return_by_value>()),
113 "spatial velocity of the contact body")
114
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 10 .add_property("a0_local",
115
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 10 bp::make_getter(&ContactData3D::a0_local,
116 ✗ bp::return_internal_reference<>()),
117
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 20 bp::make_setter(&ContactData3D::a0_local),
118 "desired local contact acceleration")
119
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 10 .add_property(
120 "dp",
121
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 10 bp::make_getter(&ContactData3D::dp,
122 ✗ bp::return_internal_reference<>()),
123
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 20 bp::make_setter(&ContactData3D::dp),
124 "Translation error computed for the Baumgarte regularization term")
125
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 10 .add_property("dp_local",
126
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 10 bp::make_getter(&ContactData3D::dp_local,
127 ✗ bp::return_internal_reference<>()),
128
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 20 bp::make_setter(&ContactData3D::dp_local),
129 "local translation error computed for the Baumgarte "
130 "regularization term")
131
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 10 .add_property("f_local",
132
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 10 bp::make_getter(&ContactData3D::f_local,
133 ✗ bp::return_internal_reference<>()),
134
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 20 bp::make_setter(&ContactData3D::f_local),
135 "spatial contact force in local coordinates")
136
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 10 .add_property("da0_local_dx",
137
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 10 bp::make_getter(&ContactData3D::da0_local_dx,
138 ✗ bp::return_internal_reference<>()),
139
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 20 bp::make_setter(&ContactData3D::da0_local_dx),
140 "Jacobian of the desired local contact acceleration")
141
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 10 .add_property("fJf",
142
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 10 bp::make_getter(&ContactData3D::fJf,
143 10 bp::return_internal_reference<>()),
144 "local Jacobian of the contact frame")
145
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 10 .add_property("v_partial_dq",
146
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 10 bp::make_getter(&ContactData3D::v_partial_dq,
147 10 bp::return_internal_reference<>()),
148 "Jacobian of the spatial body velocity")
149
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 10 .add_property("a_partial_dq",
150
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 10 bp::make_getter(&ContactData3D::a_partial_dq,
151 10 bp::return_internal_reference<>()),
152 "Jacobian of the spatial body acceleration")
153
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 10 .add_property("a_partial_dv",
154
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 10 bp::make_getter(&ContactData3D::a_partial_dv,
155 10 bp::return_internal_reference<>()),
156 "Jacobian of the spatial body acceleration")
157
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 10 .add_property("a_partial_da",
158
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 10 bp::make_getter(&ContactData3D::a_partial_da,
159 10 bp::return_internal_reference<>()),
160 "Jacobian of the spatial body acceleration")
161
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 10 .def(CopyableVisitor<ContactData3D>());
162 10 }
163
164 } // namespace python
165 } // namespace crocoddyl
166