GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-friction-cone.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 35 38 92.1%
Branches: 30 60 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, 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/copyable.hpp"
13 #include "python/crocoddyl/utils/deprecate.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeResidualContactFrictionCone() {
19 bp::register_ptr_to_python<
20 10 std::shared_ptr<ResidualModelContactFrictionCone> >();
21
22
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 10 bp::class_<ResidualModelContactFrictionCone,
23 bp::bases<ResidualModelAbstract> >(
24 "ResidualModelContactFrictionCone",
25 "This residual function is defined as r = A*f, where A, f describe the "
26 "linearized friction cone and\n"
27 "the spatial force, respectively.",
28
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 10 bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
29 FrictionCone, std::size_t, bp::optional<bool> >(
30 20 bp::args("self", "state", "id", "fref", "nu", "fwddyn"),
31 "Initialize the contact friction cone residual model.\n\n"
32 ":param state: state of the multibody system\n"
33 ":param id: reference frame id\n"
34 ":param fref: frame friction cone\n"
35 ":param nu: dimension of control vector\n"
36 ":param fwddyn: indicate if we have a forward dynamics problem "
37 "(True) or inverse "
38 "dynamics problem (False) (default True)"))
39
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 10 .def(bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
40 FrictionCone>(
41
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 20 bp::args("self", "state", "id", "fref"),
42 "Initialize the contact friction cone residual model.\n\n"
43 "The default nu is obtained from state.nv. Note that this "
44 "constructor can be used for forward-dynamics\n"
45 "cases only.\n"
46 ":param state: state of the multibody system\n"
47 ":param id: reference frame id\n"
48 ":param fref: frame friction cone"))
49 .def<void (ResidualModelContactFrictionCone::*)(
50 const std::shared_ptr<ResidualDataAbstract>&,
51 const Eigen::Ref<const Eigen::VectorXd>&,
52 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
53 "calc", &ResidualModelContactFrictionCone::calc,
54
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 20 bp::args("self", "data", "x", "u"),
55 "Compute the contact friction cone residual.\n\n"
56 ":param data: residual data\n"
57 ":param x: state point (dim. state.nx)\n"
58 ":param u: control input (dim. nu)")
59 .def<void (ResidualModelContactFrictionCone::*)(
60 const std::shared_ptr<ResidualDataAbstract>&,
61
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
62
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
63 .def<void (ResidualModelContactFrictionCone::*)(
64 const std::shared_ptr<ResidualDataAbstract>&,
65 const Eigen::Ref<const Eigen::VectorXd>&,
66
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
67 "calcDiff", &ResidualModelContactFrictionCone::calcDiff,
68
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 20 bp::args("self", "data", "x", "u"),
69 "Compute the Jacobians of the contact friction cone residual.\n\n"
70 "It assumes that calc has been run first.\n"
71 ":param data: action data\n"
72 ":param x: state point (dim. state.nx)\n"
73 ":param u: control input (dim. nu)")
74 .def<void (ResidualModelContactFrictionCone::*)(
75 const std::shared_ptr<ResidualDataAbstract>&,
76
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
77 "calcDiff", &ResidualModelAbstract::calcDiff,
78
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 20 bp::args("self", "data", "x"))
79
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 20 .def(
80 "createData", &ResidualModelContactFrictionCone::createData,
81 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
82
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 20 bp::args("self", "data"),
83 "Create the contact friction cone residual data.\n\n"
84 "Each residual model has its own data that needs to be allocated. "
85 "This function\n"
86 "returns the allocated data for the contact friction cone residual.\n"
87 ":param data: shared data\n"
88 ":return residual data.")
89
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 10 .add_property(
90
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 10 "id", bp::make_function(&ResidualModelContactFrictionCone::get_id),
91
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 20 bp::make_function(
92 &ResidualModelContactFrictionCone::set_id,
93
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 20 deprecated<>(
94 "Deprecated. Do not use set_id, instead create a new model")),
95 "reference frame id")
96
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 10 .add_property(
97 "reference",
98
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 10 bp::make_function(&ResidualModelContactFrictionCone::get_reference,
99 10 bp::return_internal_reference<>()),
100 &ResidualModelContactFrictionCone::set_reference,
101 "reference contact friction cone")
102
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 10 .def(CopyableVisitor<ResidualModelContactFrictionCone>());
103
104 bp::register_ptr_to_python<
105 10 std::shared_ptr<ResidualDataContactFrictionCone> >();
106
107
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 10 bp::class_<ResidualDataContactFrictionCone, bp::bases<ResidualDataAbstract> >(
108 "ResidualDataContactFrictionCone",
109 "Data for contact friction cone residual.\n\n",
110
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 10 bp::init<ResidualModelContactFrictionCone*, DataCollectorAbstract*>(
111 10 bp::args("self", "model", "data"),
112 "Create contact friction cone residual data.\n\n"
113 ":param model: contact friction cone residual model\n"
114 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
115
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
116
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 10 .add_property(
117 "contact",
118
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 10 bp::make_getter(&ResidualDataContactFrictionCone::contact,
119 ✗ bp::return_value_policy<bp::return_by_value>()),
120
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 20 bp::make_setter(&ResidualDataContactFrictionCone::contact),
121 "contact data associated with the current residual")
122
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 10 .def(CopyableVisitor<ResidualDataContactFrictionCone>());
123 10 }
124
125 } // namespace python
126 } // namespace crocoddyl
127