GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/contacts/contact-6d.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 31 32 96.9%
Branches: 60 120 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-6d.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ContactModel6DVisitor
19 : public bp::def_visitor<ContactModel6DVisitor<Model>> {
20 typedef typename Model::StateMultibody State;
21 typedef typename Model::SE3 SE3;
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, SE3,
26 pinocchio::ReferenceFrame, bp::optional<Vector2s>>(
27 bp::args("self", "state", "id", "pref", "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 pref: contact placement 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 6D 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 6D 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 Lagrangian into a stack of spatial forces.\n\n"
53 ":param data: cost data\n"
54 ":param force: force vector (dimension 6)")
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 6D 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 placement")
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 ContactData6DVisitor
77 : public bp::def_visitor<ContactData6DVisitor<Data>> {
78 template <class PyClass>
79 40 void visit(PyClass& cl) const {
80
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 40 cl.add_property(
81 "rMf",
82 bp::make_getter(&Data::jMf,
83 40 bp::return_value_policy<bp::return_by_value>()),
84 "error frame placement of the contact frame")
85
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 40 .add_property(
86 "v",
87 bp::make_getter(&Data::v,
88 40 bp::return_value_policy<bp::return_by_value>()),
89 "spatial velocity of the contact body")
90
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 40 .add_property(
91 "a0_local",
92 bp::make_getter(&Data::a0_local,
93 40 bp::return_value_policy<bp::return_by_value>()),
94 "desired local contact acceleration")
95
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 40 .add_property("v_partial_dq",
96 bp::make_getter(&Data::v_partial_dq,
97 40 bp::return_internal_reference<>()),
98 "Jacobian of the spatial body velocity")
99
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 40 .add_property("a_partial_dq",
100 bp::make_getter(&Data::a_partial_dq,
101 40 bp::return_internal_reference<>()),
102 "Jacobian of the spatial body acceleration")
103
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 40 .add_property("a_partial_dv",
104 bp::make_getter(&Data::a_partial_dv,
105 40 bp::return_internal_reference<>()),
106 "Jacobian of the spatial body acceleration")
107
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 40 .add_property("a_partial_da",
108 bp::make_getter(&Data::a_partial_da,
109 40 bp::return_internal_reference<>()),
110 "Jacobian of the spatial body acceleration");
111 40 }
112 };
113
114 #define CROCODDYL_CONTACT_MODEL_6D_PYTHON_BINDINGS(Scalar) \
115 typedef ContactModel6DTpl<Scalar> Model; \
116 typedef ContactModelAbstractTpl<Scalar> ModelBase; \
117 typedef Model::StateMultibody State; \
118 typedef Model::SE3 SE3; \
119 typedef Model::Vector2s Vector2s; \
120 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
121 bp::class_<Model, bp::bases<ModelBase>>( \
122 "ContactModel6D", \
123 "Rigid 6D contact model.\n\n" \
124 "It defines a rigid 6D contact models based on acceleration-based " \
125 "holonomic constraints. The calc and calcDiff functions compute the " \
126 "contact Jacobian and drift (holonomic constraint) or the derivatives " \
127 "of the holonomic constraint, respectively.", \
128 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, SE3, \
129 pinocchio::ReferenceFrame, std::size_t, \
130 bp::optional<Vector2s>>( \
131 bp::args("self", "state", "id", "pref", "type", "nu", "gains"), \
132 "Initialize the contact model.\n\n" \
133 ":param state: state of the multibody system\n" \
134 ":param id: reference frame id of the contact\n" \
135 ":param pref: contact placement used for the Baumgarte " \
136 "stabilization\n" \
137 ":param type: type of contact\n" \
138 ":param nu: dimension of control vector\n" \
139 ":param gains: gains of the contact model (default " \
140 "np.matrix([0.,0.]))")) \
141 .def(ContactModel6DVisitor<Model>()) \
142 .def(CastVisitor<Model>()) \
143 .def(PrintableVisitor<Model>()) \
144 .def(CopyableVisitor<Model>());
145
146 #define CROCODDYL_CONTACT_DATA_6D_PYTHON_BINDINGS(Scalar) \
147 typedef ContactData6DTpl<Scalar> Data; \
148 typedef ContactDataAbstractTpl<Scalar> DataBase; \
149 typedef ContactModel6DTpl<Scalar> Model; \
150 typedef pinocchio::DataTpl<Scalar> PinocchioData; \
151 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
152 bp::class_<Data, bp::bases<DataBase>>( \
153 "ContactData6D", "Data for 6D contact.\n\n", \
154 bp::init<Model*, PinocchioData*>( \
155 bp::args("self", "model", "data"), \
156 "Create 6D contact data.\n\n" \
157 ":param model: 6D contact model\n" \
158 ":param data: Pinocchio data")[bp::with_custodian_and_ward< \
159 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
160 .def(ContactData6DVisitor<Data>()) \
161 .def(CopyableVisitor<Data>());
162
163 10 void exposeContact6D() {
164 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has
165 // been removed in a future release
166 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
167
168
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_MODEL_6D_PYTHON_BINDINGS)
169
170 #pragma GCC diagnostic pop
171
172
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_DATA_6D_PYTHON_BINDINGS)
173 10 }
174
175 } // namespace python
176 } // namespace crocoddyl
177