GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-control-gravity.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 33 35 94.3%
Branches: 26 52 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2023, 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/residuals/contact-control-gravity.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 exposeResidualContactControlGrav() {
19 bp::register_ptr_to_python<
20 10 boost::shared_ptr<ResidualModelContactControlGrav> >();
21
22
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 10 bp::class_<ResidualModelContactControlGrav,
23 bp::bases<ResidualModelAbstract> >(
24 "ResidualModelContactControlGrav",
25 "This residual function defines a residual vector as r = u - g(q,fext),\n"
26 "with u as the control, q as the position, fext as the external forces "
27 "and g as the gravity vector in contact",
28
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 10 bp::init<boost::shared_ptr<StateMultibody>, std::size_t>(
29 20 bp::args("self", "state", "nu"),
30 "Initialize the contact control-gravity residual model.\n\n"
31 ":param state: state description\n"
32 ":param nu: dimension of the control vector"))
33
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 10 .def(bp::init<boost::shared_ptr<StateMultibody> >(
34
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 20 bp::args("self", "state"),
35 "Initialize the contact control-gravity residual model.\n\n"
36 "The default nu is obtained from state.nv.\n"
37 ":param state: state description"))
38 .def<void (ResidualModelContactControlGrav::*)(
39 const boost::shared_ptr<ResidualDataAbstract> &,
40 const Eigen::Ref<const Eigen::VectorXd> &,
41 20 const Eigen::Ref<const Eigen::VectorXd> &)>(
42 "calc", &ResidualModelContactControlGrav::calc,
43
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 20 bp::args("self", "data", "x", "u"),
44 "Compute the contact control-gravity residual.\n\n"
45 ":param data: residual data\n"
46 ":param x: state point (dim. state.nx)\n"
47 ":param u: control input (dim. nu)")
48 .def<void (ResidualModelContactControlGrav::*)(
49 const boost::shared_ptr<ResidualDataAbstract> &,
50
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
51
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
52 .def<void (ResidualModelContactControlGrav::*)(
53 const boost::shared_ptr<ResidualDataAbstract> &,
54 const Eigen::Ref<const Eigen::VectorXd> &,
55
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
56 "calcDiff", &ResidualModelContactControlGrav::calcDiff,
57
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 20 bp::args("self", "data", "x", "u"),
58 "Compute the Jacobias of the contact control-gravity residual.\n\n"
59 ":param data: action data\n"
60 ":param x: state point (dim. state.nx)\n"
61 ":param u: control input (dim. nu)")
62 .def<void (ResidualModelContactControlGrav::*)(
63 const boost::shared_ptr<ResidualDataAbstract> &,
64
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
65 "calcDiff", &ResidualModelAbstract::calcDiff,
66
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 20 bp::args("self", "data", "x"))
67
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 20 .def("createData", &ResidualModelContactControlGrav::createData,
68 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
69
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 20 bp::args("self", "data"),
70 "Create the contact control-gravity residual data.\n\n"
71 "Each residual model has its own data that needs to be allocated. "
72 "This function\n"
73 "returns the allocated data for a predefined residual.\n"
74 ":param data: shared data\n"
75 ":return residual data.")
76
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 10 .def(CopyableVisitor<ResidualModelContactControlGrav>());
77
78 bp::register_ptr_to_python<
79 10 boost::shared_ptr<ResidualDataContactControlGrav> >();
80
81
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 10 bp::class_<ResidualDataContactControlGrav, bp::bases<ResidualDataAbstract> >(
82 "ResidualDataContactControlGrav",
83 "Data for control gravity residual in contact.\n\n",
84
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 10 bp::init<ResidualModelContactControlGrav *, DataCollectorAbstract *>(
85 10 bp::args("self", "model", "data"),
86 "Create contact control-gravity gravity contact residual data.\n\n"
87 ":param model: control gravity residual model in contact\n"
88 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
89
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("pinocchio",
91
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 20 bp::make_getter(&ResidualDataContactControlGrav::pinocchio),
92 "Pinocchio data used for internal computations")
93
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 10 .add_property("actuation",
94
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 10 bp::make_getter(&ResidualDataContactControlGrav::actuation,
95 10 bp::return_internal_reference<>()),
96 "actuation model")
97
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 10 .add_property("fext",
98
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 10 bp::make_getter(&ResidualDataContactControlGrav::fext,
99 10 bp::return_internal_reference<>()),
100 "external spatial forces")
101
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 10 .def(CopyableVisitor<ResidualDataContactControlGrav>());
102 10 }
103
104 } // namespace python
105 } // namespace crocoddyl
106