GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/data/contacts.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 24 27 88.9%
Branches: 17 34 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/data/contacts.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeDataCollectorContacts() {
18
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 10 bp::class_<DataCollectorContact, bp::bases<DataCollectorAbstract> >(
19 "DataCollectorContact", "Contact data collector.\n\n",
20
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 10 bp::init<boost::shared_ptr<ContactDataMultiple> >(
21 20 bp::args("self", "contacts"),
22 "Create contact data collection.\n\n"
23 ":param contacts: contacts data"))
24
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 10 .add_property(
25 "contacts",
26
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 10 bp::make_getter(&DataCollectorContact::contacts,
27 10 bp::return_value_policy<bp::return_by_value>()),
28 "contacts data")
29
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 10 .def(CopyableVisitor<DataCollectorContact>());
30
31
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 10 bp::class_<DataCollectorMultibodyInContact,
32 bp::bases<DataCollectorMultibody, DataCollectorContact> >(
33 "DataCollectorMultibodyInContact",
34 "Data collector for multibody systems in contact.\n\n",
35
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 10 bp::init<pinocchio::Data*, boost::shared_ptr<ContactDataMultiple> >(
36 10 bp::args("self", "pinocchio", "contacts"),
37 "Create multibody data collection.\n\n"
38 ":param pinocchio: Pinocchio data\n"
39 ✗ ":param contacts: contacts data")[bp::with_custodian_and_ward<1,
40
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 20 2>()])
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 10 .def(CopyableVisitor<DataCollectorMultibodyInContact>());
42
43
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 10 bp::class_<
44 DataCollectorActMultibodyInContact,
45 bp::bases<DataCollectorMultibodyInContact, DataCollectorActuation> >(
46 "DataCollectorActMultibodyInContact",
47 "Data collector for actuated multibody systems in contact.\n\n",
48
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 10 bp::init<pinocchio::Data*, boost::shared_ptr<ActuationDataAbstract>,
49 boost::shared_ptr<ContactDataMultiple> >(
50 10 bp::args("self", "pinocchio", "actuation", "contacts"),
51 "Create multibody data collection.\n\n"
52 ":param pinocchio: Pinocchio data\n"
53 ":param actuation: actuation data\n"
54 ✗ ":param contacts: contacts data")[bp::with_custodian_and_ward<1,
55
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 20 2>()])
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 10 .def(CopyableVisitor<DataCollectorActMultibodyInContact>());
57
58
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 10 bp::class_<
59 DataCollectorJointActMultibodyInContact,
60 bp::bases<DataCollectorActMultibodyInContact, DataCollectorJoint> >(
61 "DataCollectorJointActMultibodyInContact",
62 "Data collector for actuated-joint multibody systems in contact.\n\n",
63
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 10 bp::init<pinocchio::Data*, boost::shared_ptr<ActuationDataAbstract>,
64 boost::shared_ptr<JointDataAbstract>,
65 boost::shared_ptr<ContactDataMultiple> >(
66 10 bp::args("self", "pinocchio", "actuation", "joint", "contacts"),
67 "Create multibody data collection.\n\n"
68 ":param pinocchio: Pinocchio data\n"
69 ":param actuation: actuation data\n"
70 ":param joint: joint data\n"
71 ✗ ":param contacts: contacts data")[bp::with_custodian_and_ward<1,
72
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 20 2>()])
73
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 10 .def(CopyableVisitor<DataCollectorJointActMultibodyInContact>());
74 10 }
75
76 } // namespace python
77 } // namespace crocoddyl
78