GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/contact-wrench-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) 2020-2023, 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-wrench-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 exposeResidualContactWrenchCone() {
19 bp::register_ptr_to_python<
20 10 std::shared_ptr<ResidualModelContactWrenchCone> >();
21
22
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 10 bp::class_<ResidualModelContactWrenchCone, bp::bases<ResidualModelAbstract> >(
23 "ResidualModelContactWrenchCone",
24
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 10 bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
25 WrenchCone, std::size_t, bp::optional<bool> >(
26 20 bp::args("self", "state", "id", "fref", "nu", "fwddyn"),
27 "Initialize the contact wrench cone residual model.\n\n"
28 ":param state: state of the multibody system\n"
29 ":param id: reference frame id\n"
30 ":param fref: contact wrench cone\n"
31 ":param nu: dimension of control vector\n"
32 ":param fwddyn: indicate if we have a forward dynamics problem "
33 "(True) or inverse dynamics problem (False) "
34 "(default True)"))
35
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 10 .def(bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
36 WrenchCone>(
37
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 20 bp::args("self", "state", "id", "fref"),
38 "Initialize the contact wrench cone residual model.\n\n"
39 "The default nu is obtained from state.nv. Note that this "
40 "constructor can be used for forward-dynamics\n"
41 "cases only.\n"
42 ":param state: state of the multibody system\n"
43 ":param id: reference frame id\n"
44 ":param fref: contact wrench cone"))
45 .def<void (ResidualModelContactWrenchCone::*)(
46 const std::shared_ptr<ResidualDataAbstract>&,
47 const Eigen::Ref<const Eigen::VectorXd>&,
48 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
49 "calc", &ResidualModelContactWrenchCone::calc,
50
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 20 bp::args("self", "data", "x", "u"),
51 "Compute the contact wrench cone residual.\n\n"
52 ":param data: residual data\n"
53 ":param x: state point (dim. state.nx)\n"
54 ":param u: control input (dim. nu)")
55 .def<void (ResidualModelContactWrenchCone::*)(
56 const std::shared_ptr<ResidualDataAbstract>&,
57
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
58
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
59 .def<void (ResidualModelContactWrenchCone::*)(
60 const std::shared_ptr<ResidualDataAbstract>&,
61 const Eigen::Ref<const Eigen::VectorXd>&,
62
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
63 "calcDiff", &ResidualModelContactWrenchCone::calcDiff,
64
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 20 bp::args("self", "data", "x", "u"),
65 "Compute the Jacobians of the contact wrench cone residual.\n\n"
66 "It assumes that calc has been run first.\n"
67 ":param data: action data\n"
68 ":param x: state point (dim. state.nx)\n"
69 ":param u: control input (dim. nu)")
70 .def<void (ResidualModelContactWrenchCone::*)(
71 const std::shared_ptr<ResidualDataAbstract>&,
72
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
73 "calcDiff", &ResidualModelAbstract::calcDiff,
74
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 20 bp::args("self", "data", "x"))
75
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 20 .def("createData", &ResidualModelContactWrenchCone::createData,
76 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
77
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 20 bp::args("self", "data"),
78 "Create the contact wrench cone residual data.\n\n"
79 "Each residual model has its own data that needs to be allocated. "
80 "This function\n"
81 "returns the allocated data for the contact wrench cone residual.\n"
82 ":param data: shared data\n"
83 ":return residual data.")
84
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 10 .add_property(
85
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 10 "id", bp::make_function(&ResidualModelContactWrenchCone::get_id),
86
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 20 bp::make_function(
87 &ResidualModelContactWrenchCone::set_id,
88
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 20 deprecated<>(
89 "Deprecated. Do not use set_id, instead create a new model")),
90 "reference frame id")
91
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 10 .add_property(
92 "reference",
93
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 10 bp::make_function(&ResidualModelContactWrenchCone::get_reference,
94 10 bp::return_internal_reference<>()),
95 &ResidualModelContactWrenchCone::set_reference,
96 "reference contact wrench cone")
97
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 10 .def(CopyableVisitor<ResidualModelContactWrenchCone>());
98
99 10 bp::register_ptr_to_python<std::shared_ptr<ResidualDataContactWrenchCone> >();
100
101
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 10 bp::class_<ResidualDataContactWrenchCone, bp::bases<ResidualDataAbstract> >(
102 "ResidualDataContactWrenchCone",
103 "Data for contact wrench cone residual.\n\n",
104
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 10 bp::init<ResidualModelContactWrenchCone*, DataCollectorAbstract*>(
105 10 bp::args("self", "model", "data"),
106 "Create contact wrench cone residual data.\n\n"
107 ":param model: contact wrench cone residual model\n"
108 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
109
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
110
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 10 .add_property(
111 "contact",
112
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 10 bp::make_getter(&ResidualDataContactWrenchCone::contact,
113 ✗ bp::return_value_policy<bp::return_by_value>()),
114
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 20 bp::make_setter(&ResidualDataContactWrenchCone::contact),
115 "contact data associated with the current residual")
116
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 10 .def(CopyableVisitor<ResidualDataContactWrenchCone>());
117 10 }
118
119 } // namespace python
120 } // namespace crocoddyl
121