GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/contacts/contact-6d.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 48 50 96.0%
Branches: 36 72 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-6d.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 exposeContact6D() {
19 10 bp::register_ptr_to_python<std::shared_ptr<ContactModel6D> >();
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_<ContactModel6D, bp::bases<ContactModelAbstract> >(
26 "ContactModel6D",
27 "Rigid 6D contact model.\n\n"
28 "It defines a rigid 6D contact models based on acceleration-based "
29 "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<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
34 pinocchio::SE3, pinocchio::ReferenceFrame, std::size_t,
35 bp::optional<Eigen::Vector2d> >(
36 20 bp::args("self", "state", "id", "pref", "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 pref: contact placement used for the Baumgarte "
41 "stabilization\n"
42 ":param type: type of contact\n"
43 ":param nu: dimension of control vector\n"
44 ":param gains: gains of the contact model (default "
45 "np.matrix([0.,0.]))"))
46
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 10 .def(bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
47 pinocchio::SE3, pinocchio::ReferenceFrame,
48 bp::optional<Eigen::Vector2d> >(
49
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 20 bp::args("self", "state", "id", "pref", "type", "gains"),
50 "Initialize the contact model.\n\n"
51 ":param state: state of the multibody system\n"
52 ":param id: reference frame id of the contact\n"
53 ":param pref: contact placement used for the Baumgarte "
54 "stabilization\n"
55 ":param type: type of contact\n"
56 ":param gains: gains of the contact model (default "
57 "np.matrix([0.,0.]))"))
58
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 20 .def("calc", &ContactModel6D::calc, bp::args("self", "data", "x"),
59 "Compute the 6D contact Jacobian and drift.\n\n"
60 "The rigid contact model throught acceleration-base holonomic "
61 "constraint\n"
62 "of the contact frame placement.\n"
63 ":param data: contact data\n"
64 ":param x: state point (dim. state.nx)")
65
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 20 .def("calcDiff", &ContactModel6D::calcDiff, bp::args("self", "data", "x"),
66 "Compute the derivatives of the 6D contact holonomic constraint.\n\n"
67 "The rigid contact model throught acceleration-base holonomic "
68 "constraint\n"
69 "of the contact frame placement.\n"
70 "It assumes that calc has been run first.\n"
71 ":param data: cost data\n"
72 ":param x: state point (dim. state.nx)")
73
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 10 .def("updateForce", &ContactModel6D::updateForce,
74
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 20 bp::args("self", "data", "force"),
75 "Convert the Lagrangian into a stack of spatial forces.\n\n"
76 ":param data: cost data\n"
77 ":param force: force vector (dimension 6)")
78
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 10 .def("createData", &ContactModel6D::createData,
79 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
80
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 20 bp::args("self", "data"),
81 "Create the 6D contact data.\n\n"
82 "Each contact model has its own data that needs to be allocated. "
83 "This function\n"
84 "returns the allocated data for a predefined cost.\n"
85 ":param data: Pinocchio data\n"
86 ":return contact data.")
87
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 10 .add_property("reference",
88
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 10 bp::make_function(&ContactModel6D::get_reference,
89 10 bp::return_internal_reference<>()),
90 &ContactModel6D::set_reference,
91 "reference contact placement")
92
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 10 .add_property(
93 "gains",
94
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 10 bp::make_function(&ContactModel6D::get_gains,
95 10 bp::return_value_policy<bp::return_by_value>()),
96 "contact gains")
97
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 10 .def(CopyableVisitor<ContactModel6D>());
98
99 #pragma GCC diagnostic pop
100
101 10 bp::register_ptr_to_python<std::shared_ptr<ContactData6D> >();
102
103
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 10 bp::class_<ContactData6D, bp::bases<ContactDataAbstract> >(
104 "ContactData6D", "Data for 6D contact.\n\n",
105
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 10 bp::init<ContactModel6D*, pinocchio::Data*>(
106 10 bp::args("self", "model", "data"),
107 "Create 6D contact data.\n\n"
108 ":param model: 6D contact model\n"
109 ✗ ":param data: Pinocchio data")[bp::with_custodian_and_ward<
110
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
111
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 10 .add_property(
112 "rMf",
113
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 10 bp::make_getter(&ContactData6D::jMf,
114 10 bp::return_value_policy<bp::return_by_value>()),
115 "error frame placement of the contact frame")
116
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 10 .add_property(
117 "v",
118
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 10 bp::make_getter(&ContactData6D::v,
119 10 bp::return_value_policy<bp::return_by_value>()),
120 "spatial velocity of the contact body")
121
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 10 .add_property(
122 "a0_local",
123
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 10 bp::make_getter(&ContactData6D::a0_local,
124 10 bp::return_value_policy<bp::return_by_value>()),
125 "desired local contact acceleration")
126
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 10 .add_property("v_partial_dq",
127
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 10 bp::make_getter(&ContactData6D::v_partial_dq,
128 10 bp::return_internal_reference<>()),
129 "Jacobian of the spatial body velocity")
130
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 10 .add_property("a_partial_dq",
131
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 10 bp::make_getter(&ContactData6D::a_partial_dq,
132 10 bp::return_internal_reference<>()),
133 "Jacobian of the spatial body acceleration")
134
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 10 .add_property("a_partial_dv",
135
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 10 bp::make_getter(&ContactData6D::a_partial_dv,
136 10 bp::return_internal_reference<>()),
137 "Jacobian of the spatial body acceleration")
138
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 10 .add_property("a_partial_da",
139
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 10 bp::make_getter(&ContactData6D::a_partial_da,
140 10 bp::return_internal_reference<>()),
141 "Jacobian of the spatial body acceleration")
142
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 10 .def(CopyableVisitor<ContactData6D>());
143 10 }
144
145 } // namespace python
146 } // namespace crocoddyl
147