GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-friction-cone.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 20 21 95.2%
Branches: 53 106 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12 #include "python/crocoddyl/utils/deprecate.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ResidualModelContactFrictionConeVisitor
19 : public bp::def_visitor<ResidualModelContactFrictionConeVisitor<Model>> {
20 typedef typename Model::ResidualDataAbstract Data;
21 typedef typename Model::StateMultibody State;
22 typedef typename Model::FrictionCone Cone;
23 typedef typename Model::VectorXs VectorXs;
24 template <class PyClass>
25 40 void visit(PyClass& cl) const {
26
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 40 cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Cone>(
27 bp::args("self", "state", "id", "fref"),
28 "Initialize the contact friction cone residual model.\n\n"
29 "The default nu is obtained from state.nv. Note that this "
30 "constructor can be used for forward-dynamics\n"
31 "cases only.\n"
32 ":param state: state of the multibody system\n"
33 ":param id: reference frame id\n"
34 ":param fref: frame friction cone"))
35 80 .def(
36 "calc",
37 static_cast<void (Model::*)(
38 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
39 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
40 "Compute the contact friction cone residual.\n\n"
41 ":param data: residual data\n"
42 ":param x: state point (dim. state.nx)\n"
43 ":param u: control input (dim. nu)")
44
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 80 .def("calc",
45 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
46 const Eigen::Ref<const VectorXs>&)>(
47 &Model::calc),
48 bp::args("self", "data", "x"))
49
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 80 .def(
50 "calcDiff",
51 static_cast<void (Model::*)(
52 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
53 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
54 bp::args("self", "data", "x", "u"),
55 "Compute the Jacobians of the contact friction cone residual.\n\n"
56 "It assumes that calc has been run first.\n"
57 ":param data: action data\n"
58 ":param x: state point (dim. state.nx)\n"
59 ":param u: control input (dim. nu)")
60
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 80 .def("calcDiff",
61 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
62 const Eigen::Ref<const VectorXs>&)>(
63 &Model::calcDiff),
64 bp::args("self", "data", "x"))
65
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 80 .def("createData", &Model::createData,
66 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
67 bp::args("self", "data"),
68 "Create the contact friction cone residual data.\n\n"
69 "Each residual model has its own data that needs to be allocated. "
70 "This function\n"
71 "returns the allocated data for the contact friction cone "
72 "residual.\n"
73 ":param data: shared data\n"
74 ":return residual data.")
75
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 120 .add_property(
76 "id", bp::make_function(&Model::get_id),
77 bp::make_function(&Model::set_id,
78
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 80 deprecated<>("Deprecated. Do not use set_id, "
79 "instead create a new model")),
80 "reference frame id")
81
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 40 .add_property("reference",
82 bp::make_function(&Model::get_reference,
83 40 bp::return_internal_reference<>()),
84 &Model::set_reference, "reference contact friction cone");
85 40 }
86 };
87
88 template <typename Data>
89 struct ResidualDataContactFrictionConeVisitor
90 : public bp::def_visitor<ResidualDataContactFrictionConeVisitor<Data>> {
91 template <class PyClass>
92 40 void visit(PyClass& cl) const {
93
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 40 cl.add_property(
94 "contact",
95 bp::make_getter(&Data::contact,
96 40 bp::return_value_policy<bp::return_by_value>()),
97 bp::make_setter(&Data::contact),
98 "contact data associated with the current residual");
99 40 }
100 };
101
102 #define CROCODDYL_RESIDUAL_MODEL_CONTACT_FRICTION_CONE_PYTHON_BINDINGS(Scalar) \
103 typedef ResidualModelContactFrictionConeTpl<Scalar> Model; \
104 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
105 typedef typename Model::StateMultibody State; \
106 typedef typename Model::FrictionCone Cone; \
107 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
108 bp::class_<Model, bp::bases<ModelBase>>( \
109 "ResidualModelContactFrictionCone", \
110 "This residual function is defined as r = A*f, where A, f describe the " \
111 "linearized friction cone and the spatial force, respectively.", \
112 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Cone, \
113 std::size_t, bp::optional<bool>>( \
114 bp::args("self", "state", "id", "fref", "nu", "fwddyn"), \
115 "Initialize the contact friction cone residual model.\n\n" \
116 ":param state: state of the multibody system\n" \
117 ":param id: reference frame id\n" \
118 ":param fref: frame friction cone\n" \
119 ":param nu: dimension of control vector\n" \
120 ":param fwddyn: indicate if we have a forward dynamics problem " \
121 "(True) or inverse dynamics problem (False) (default True)")) \
122 .def(ResidualModelContactFrictionConeVisitor<Model>()) \
123 .def(CastVisitor<Model>()) \
124 .def(PrintableVisitor<Model>()) \
125 .def(CopyableVisitor<Model>());
126
127 #define CROCODDYL_RESIDUAL_DATA_CONTACT_FRICTION_CONE_PYTHON_BINDINGS(Scalar) \
128 typedef ResidualDataContactFrictionConeTpl<Scalar> Data; \
129 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
130 typedef ResidualModelContactFrictionConeTpl<Scalar> Model; \
131 typedef Model::DataCollectorAbstract DataCollector; \
132 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
133 bp::class_<Data, bp::bases<DataBase>>( \
134 "ResidualDataContactFrictionCone", \
135 "Data for contact friction cone residual.\n\n", \
136 bp::init<Model*, DataCollector*>( \
137 bp::args("self", "model", "data"), \
138 "Create contact friction cone residual data.\n\n" \
139 ":param model: contact friction cone residual model\n" \
140 ":param data: shared data")[bp::with_custodian_and_ward< \
141 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
142 .def(ResidualDataContactFrictionConeVisitor<Data>()) \
143 .def(CopyableVisitor<Data>());
144
145 10 void exposeResidualContactFrictionCone() {
146
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 20 CROCODDYL_PYTHON_SCALARS(
147 CROCODDYL_RESIDUAL_MODEL_CONTACT_FRICTION_CONE_PYTHON_BINDINGS)
148
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 20 CROCODDYL_PYTHON_SCALARS(
149 CROCODDYL_RESIDUAL_DATA_CONTACT_FRICTION_CONE_PYTHON_BINDINGS)
150 10 }
151
152 } // namespace python
153 } // namespace crocoddyl
154