GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 22 23 95.7%
Branches: 56 112 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2025, University of Duisburg-Essen, University of
5 // Edinburgh,
6 // Heriot-Watt University
7 // Copyright note valid unless otherwise stated in individual files.
8 // All rights reserved.
9 ///////////////////////////////////////////////////////////////////////////////
10
11 #include "crocoddyl/multibody/residuals/contact-cop-position.hpp"
12
13 #include "python/crocoddyl/multibody/multibody.hpp"
14 #include "python/crocoddyl/utils/deprecate.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 template <typename Model>
20 struct ResidualModelContactCoPPositionVisitor
21 : public bp::def_visitor<ResidualModelContactCoPPositionVisitor<Model>> {
22 typedef typename Model::ResidualDataAbstract Data;
23 typedef typename Model::StateMultibody State;
24 typedef typename Model::VectorXs VectorXs;
25 typedef typename Model::CoPSupport Support;
26 template <class PyClass>
27 40 void visit(PyClass& cl) const {
28
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 40 cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Support>(
29 bp::args("self", "state", "id", "cref"),
30 "Initialize the contact CoP position residual model.\n\n"
31 "The default nu is obtained from state.nv. Note that this "
32 "constructor can be used for forward-dynamics\n"
33 "cases only.\n"
34 ":param state: state of the multibody system\n"
35 ":param id: reference frame id\n"
36 ":param cref: support region of the CoP"))
37
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 80 .def(
38 "calc",
39 static_cast<void (Model::*)(
40 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
41 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
42 bp::args("self", "data", "x", "u"),
43 "Compute the contact CoP position residual.\n\n"
44 ":param data: residual data\n"
45 ":param x: state point (dim. state.nx)\n"
46 ":param u: control input (dim. nu)")
47
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 80 .def("calc",
48 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
49 const Eigen::Ref<const VectorXs>&)>(
50 &Model::calc),
51 bp::args("self", "data", "x"))
52
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 80 .def(
53 "calcDiff",
54 static_cast<void (Model::*)(
55 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
56 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
57 bp::args("self", "data", "x", "u"),
58 "Compute the derivatives of the contact CoP position residual.\n\n"
59 "It assumes that calc has been run first.\n"
60 ":param data: action data\n"
61 ":param x: state point (dim. state.nx)\n"
62 ":param u: control input (dim. nu)\n")
63
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 80 .def("calcDiff",
64 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
65 const Eigen::Ref<const VectorXs>&)>(
66 &Model::calcDiff),
67 bp::args("self", "data", "x"))
68
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 80 .def("createData", &Model::createData,
69 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
70 bp::args("self", "data"),
71 "Create the contact CoP position residual data.\n\n"
72 "Each residual model has its own data that needs to be allocated. "
73 "This function\n"
74 "returns the allocated data for the CoP position residual.\n"
75 ":param data: shared data\n"
76 ":return residual data.")
77
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 120 .add_property(
78 "id", bp::make_function(&Model::get_id),
79 bp::make_function(&Model::set_id,
80
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 80 deprecated<>("Deprecated. Do not use set_id, "
81 "instead create a new model")),
82 "reference frame id")
83
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 40 .add_property("reference",
84 bp::make_function(
85 &Model::get_reference,
86 40 bp::return_value_policy<bp::copy_const_reference>()),
87 &Model::set_reference,
88 "reference support region of the CoP");
89 40 }
90 };
91
92 template <typename Data>
93 struct ResidualDataContactCoPPositionVisitor
94 : public bp::def_visitor<ResidualDataContactCoPPositionVisitor<Data>> {
95 template <class PyClass>
96 40 void visit(PyClass& cl) const {
97
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 40 cl.add_property(
98 "pinocchio",
99 40 bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()),
100 "pinocchio data")
101
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 80 .add_property(
102 "contact",
103 bp::make_getter(&Data::contact,
104 40 bp::return_value_policy<bp::return_by_value>()),
105 bp::make_setter(&Data::contact),
106 "contact data associated with the current residual");
107 40 }
108 };
109
110 #define CROCODDYL_RESIDUAL_MODEL_CONTACT_COP_POSITION_PYTHON_BINDINGS(Scalar) \
111 typedef ResidualModelContactCoPPositionTpl<Scalar> Model; \
112 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
113 typedef typename Model::StateMultibody State; \
114 typedef typename Model::CoPSupport Support; \
115 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
116 bp::class_<Model, bp::bases<ModelBase>>( \
117 "ResidualModelContactCoPPosition", \
118 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Support, \
119 std::size_t, bp::optional<bool>>( \
120 bp::args("self", "state", "id", "cref", "nu", "fwddyn"), \
121 "Initialize the contact CoP position residual model.\n\n" \
122 ":param state: state of the multibody system\n" \
123 ":param id: reference frame id\n" \
124 ":param cref: support region of the CoP\n" \
125 ":param nu: dimension of control vector\n" \
126 ":param fwddyn: indicate if we have a forward dynamics problem " \
127 "(True) or inverse dynamics problem (False) (default True)")) \
128 .def(ResidualModelContactCoPPositionVisitor<Model>()) \
129 .def(CastVisitor<Model>()) \
130 .def(PrintableVisitor<Model>()) \
131 .def(CopyableVisitor<Model>());
132
133 #define CROCODDYL_RESIDUAL_DATA_CONTACT_COP_POSITION_PYTHON_BINDINGS(Scalar) \
134 typedef ResidualDataContactCoPPositionTpl<Scalar> Data; \
135 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
136 typedef ResidualModelContactCoPPositionTpl<Scalar> Model; \
137 typedef Model::DataCollectorAbstract DataCollector; \
138 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
139 bp::class_<Data, bp::bases<DataBase>>( \
140 "ResidualDataContactCoPPosition", \
141 "Data for contact CoP position residual.\n\n", \
142 bp::init<Model*, DataCollector*>( \
143 bp::args("self", "model", "data"), \
144 "Create contact CoP position residual data.\n\n" \
145 ":param model: contact CoP position residual model\n" \
146 ":param data: shared data")[bp::with_custodian_and_ward< \
147 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
148 .def(ResidualDataContactCoPPositionVisitor<Data>()) \
149 .def(CopyableVisitor<Data>());
150
151 10 void exposeResidualContactCoPPosition() {
152
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 20 CROCODDYL_PYTHON_SCALARS(
153 CROCODDYL_RESIDUAL_MODEL_CONTACT_COP_POSITION_PYTHON_BINDINGS)
154
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 20 CROCODDYL_PYTHON_SCALARS(
155 CROCODDYL_RESIDUAL_DATA_CONTACT_COP_POSITION_PYTHON_BINDINGS)
156 10 }
157
158 } // namespace python
159 } // namespace crocoddyl
160