GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-force.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 20 21 95.2%
Branches: 54 108 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/residuals/contact-force.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/deprecate.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 template <typename Model>
19 struct ResidualModelContactForceVisitor
20 : public bp::def_visitor<ResidualModelContactForceVisitor<Model>> {
21 typedef typename Model::ResidualDataAbstract Data;
22 typedef typename Model::StateMultibody State;
23 typedef typename Model::Force Force;
24 typedef typename Model::VectorXs VectorXs;
25 template <class PyClass>
26 40 void visit(PyClass& cl) const {
27
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 40 cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Force,
28 std::size_t>(
29 bp::args("self", "state", "id", "fref", "nc"),
30 "Initialize the contact force residual model.\n\n"
31 "The default nu is obtained from state.nv. Note that this "
32 "constructor can be used for forward-dynamics cases only.\n"
33 ":param state: state of the multibody system\n"
34 ":param id: reference frame id\n"
35 ":param nc: dimension of the contact force (nc <= 6)\n"
36 ":param fref: reference spatial contact force in the contact "
37 "coordinates\n"))
38
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 80 .def(
39 "calc",
40 static_cast<void (Model::*)(
41 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
42 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
43 bp::args("self", "data", "x", "u"),
44 "Compute the contact force 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
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 80 .def("calc",
49 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
50 const Eigen::Ref<const VectorXs>&)>(
51 &Model::calc),
52 bp::args("self", "data", "x"))
53
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 80 .def(
54 "calcDiff",
55 static_cast<void (Model::*)(
56 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
57 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
58 bp::args("self", "data", "x", "u"),
59 "Compute the Jacobians of the contact force residual.\n\n"
60 "It assumes that calc has been run first.\n"
61 ":param data: action data\n"
62 ":param x: state point (dim. state.nx)\n"
63 ":param u: control input (dim. nu)")
64
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 80 .def("calcDiff",
65 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
66 const Eigen::Ref<const VectorXs>&)>(
67 &Model::calcDiff),
68 bp::args("self", "data", "x"))
69
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 80 .def("createData", &Model::createData,
70 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
71 bp::args("self", "data"),
72 "Create the contact force residual data.\n\n"
73 "Each residual model has its own data that needs to be allocated. "
74 "This function returns the allocated data for the contact force "
75 "residual.\n"
76 ":param data: shared data\n"
77 ":return residual data.")
78
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 120 .add_property(
79 "id", bp::make_function(&Model::get_id),
80 bp::make_function(&Model::set_id,
81
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 80 deprecated<>("Deprecated. Do not use set_id, "
82 "instead create a new model")),
83 "reference frame id")
84
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 40 .add_property("reference",
85 bp::make_function(
86 &Model::get_reference,
87 40 bp::return_value_policy<bp::copy_const_reference>()),
88 &Model::set_reference, "reference spatial force");
89 40 }
90 };
91
92 template <typename Data>
93 struct ResidualDataContactForceVisitor
94 : public bp::def_visitor<ResidualDataContactForceVisitor<Data>> {
95 template <class PyClass>
96 40 void visit(PyClass& cl) const {
97
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 40 cl.add_property(
98 "contact",
99 bp::make_getter(&Data::contact,
100 40 bp::return_value_policy<bp::return_by_value>()),
101 bp::make_setter(&Data::contact),
102 "contact data associated with the current residual");
103 40 }
104 };
105
106 #define CROCODDYL_RESIDUAL_MODEL_CONTACT_FORCE_PYTHON_BINDINGS(Scalar) \
107 typedef ResidualModelContactForceTpl<Scalar> Model; \
108 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
109 typedef typename Model::StateMultibody State; \
110 typedef typename Model::Force Force; \
111 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
112 bp::class_<Model, bp::bases<ModelBase>>( \
113 "ResidualModelContactForce", \
114 "This residual function is defined as r = f-fref, where f,fref " \
115 "describe the current and reference the spatial forces, respectively.", \
116 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Force, \
117 std::size_t, std::size_t, bp::optional<bool>>( \
118 bp::args("self", "state", "id", "fref", "nc", "nu", "fwddyn"), \
119 "Initialize the contact force residual model.\n\n" \
120 ":param state: state of the multibody system\n" \
121 ":param id: reference frame id\n" \
122 ":param fref: reference spatial contact force in the contact " \
123 "coordinates\n" \
124 ":param nc: dimension of the contact force (nc <= 6)\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(ResidualModelContactForceVisitor<Model>()) \
129 .def(CastVisitor<Model>()) \
130 .def(PrintableVisitor<Model>()) \
131 .def(CopyableVisitor<Model>());
132
133 #define CROCODDYL_RESIDUAL_DATA_CONTACT_FORCE_PYTHON_BINDINGS(Scalar) \
134 typedef ResidualDataContactForceTpl<Scalar> Data; \
135 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
136 typedef ResidualModelContactForceTpl<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 "ResidualDataContactForce", "Data for contact force residual.\n\n", \
141 bp::init<Model*, DataCollector*>( \
142 bp::args("self", "model", "data"), \
143 "Create contact force residual data.\n\n" \
144 ":param model: contact force residual model\n" \
145 ":param data: shared data")[bp::with_custodian_and_ward< \
146 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
147 .def(ResidualDataContactForceVisitor<Data>()) \
148 .def(CopyableVisitor<Data>());
149
150 10 void exposeResidualContactForce() {
151
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 20 CROCODDYL_PYTHON_SCALARS(
152 CROCODDYL_RESIDUAL_MODEL_CONTACT_FORCE_PYTHON_BINDINGS)
153
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 20 CROCODDYL_PYTHON_SCALARS(
154 CROCODDYL_RESIDUAL_DATA_CONTACT_FORCE_PYTHON_BINDINGS)
155 10 }
156
157 } // namespace python
158 } // namespace crocoddyl
159