GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/control-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 41 44 93.2%
Branches: 44 88 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, LAAS-CNRS, University of Edinburgh,
5 // University of Trento, Heriot-Watt University
6 // Copyright note valid unless otherwise controld in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "python/crocoddyl/core/control-base.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14 #include "python/crocoddyl/utils/vector-converter.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeControlParametrizationAbstract() {
20 // Register custom converters between std::vector and Python list
21 typedef boost::shared_ptr<ControlParametrizationModelAbstract>
22 ControlParametrizationModelPtr;
23 typedef boost::shared_ptr<ControlParametrizationDataAbstract>
24 ControlParametrizationDataPtr;
25 StdVectorPythonVisitor<std::vector<ControlParametrizationModelPtr>,
26
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 10 true>::expose("StdVec_ControlParametrizationModel");
27 StdVectorPythonVisitor<std::vector<ControlParametrizationDataPtr>,
28
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 10 true>::expose("StdVec_ControlParametrizationData");
29
30 bp::register_ptr_to_python<
31 10 boost::shared_ptr<ControlParametrizationModelAbstract> >();
32
33
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 10 bp::class_<ControlParametrizationModelAbstract_wrap, boost::noncopyable>(
34 "ControlParametrizationModelAbstract",
35 "Abstract class for the control parametrization.\n\n"
36 "A control is a function of time (normalized in [0,1]) and the control "
37 "parameters u.",
38
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 10 bp::init<std::size_t, std::size_t>(
39 20 bp::args("self", "nw", "nu"),
40 "Initialize the control dimensions.\n\n"
41 ":param nw: dimension of control inputs\n"
42 ":param nu: dimension of control parameters"))
43
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 10 .def("calc",
44 pure_virtual(&ControlParametrizationModelAbstract_wrap::calc),
45
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 20 bp::args("self", "t", "u"),
46 "Compute the control inputs.\n\n"
47 ":param data: control-parametrization data\n"
48 ":param t: normalized time in [0, 1]\n"
49 ":param u: control parameters (dim control.nu)")
50
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 10 .def("calcDiff",
51 pure_virtual(&ControlParametrizationModelAbstract_wrap::calcDiff),
52
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 20 bp::args("self", "data", "t", "u"),
53 "Compute the Jacobian of the control inputs with respect to the "
54 "control parameters.\n"
55 "It assumes that calc has been run first.\n\n"
56 ":param data: control-parametrization data\n"
57 ":param t: normalized time in [0, 1]\n"
58 ":param u: control parameters (dim control.nu)")
59 20 .def("createData", &ControlParametrizationModelAbstract_wrap::createData,
60
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 10 &ControlParametrizationModelAbstract_wrap::default_createData,
61
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 20 bp::args("self"),
62 "Create the control-parametrization data.\n\n"
63 "Each control parametrization model has its own data that needs to "
64 "be allocated.\n"
65 "This function returns the allocated data for a predefined control "
66 "parametrization model.\n"
67 ":return data.")
68
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 10 .def("params",
69 pure_virtual(&ControlParametrizationModelAbstract_wrap::params),
70
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 20 bp::args("self", "data", "t", "w"),
71 "Update the control parameters u for a specified time t given the "
72 "control input w.\n\n"
73 ":param data: control-parametrization data\n"
74 ":param t: normalized time in [0, 1]\n"
75 ":param w: control inputs (dim control.nw)")
76
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 10 .def("convertBounds",
77 pure_virtual(
78 &ControlParametrizationModelAbstract_wrap::convertBounds_wrap),
79
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 20 bp::args("self", "w_lb", "w_ub"),
80 "Convert the bounds on the control inputs w to bounds on the "
81 "control parameters u.\n\n"
82 ":param w_lb: control lower bounds (dim control.nw)\n"
83 ":param w_ub: control upper bounds (dim control.nw)\n"
84 ":return p_lb, p_ub: lower and upper bounds on the control "
85 "parameters (dim control.nu)")
86
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 10 .def("multiplyByJacobian",
87 pure_virtual(&ControlParametrizationModelAbstract_wrap::
88 multiplyByJacobian_wrap),
89
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 20 bp::args("self", "data", "A"),
90 "Compute the product between the given matrix A and the derivative "
91 "of the control input \n"
92 "with respect to the control parameters (i.e., A*dw_du).\n\n"
93 "It assumes that calc has been run first.\n"
94 ":param data: control-parametrization data\n"
95 ":param A: matrix to multiply (dim na x control.nw)\n"
96 ":return Product between A and the partial derivative of the calc "
97 "function (dim na x control.nu)")
98
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 10 .def("multiplyJacobianTransposeBy",
99 pure_virtual(&ControlParametrizationModelAbstract_wrap::
100 multiplyJacobianTransposeBy_wrap),
101
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 20 bp::args("self", "data", "A"),
102 "Compute the product between the transpose of the derivative of the "
103 "control input \n"
104 "with respect to the control parameters and a given matrix A (i.e., "
105 "dw_du^T*A).\n\n"
106 "It assumes that calc has been run first.\n"
107 ":param data: control-parametrization data\n"
108 ":param A: matrix to multiply (dim control.nw x na)\n"
109 ":return Product between the partial derivative of the calc "
110 "function (transposed) and A (dim control.nu x "
111 "na)")
112
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 10 .add_property(
113 "nw",
114
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 20 bp::make_function(&ControlParametrizationModelAbstract_wrap::get_nw),
115 "dimension of control inputs")
116
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 10 .add_property(
117 "nu",
118
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 20 bp::make_function(&ControlParametrizationModelAbstract_wrap::get_nu),
119 "dimension of the control parameters");
120
121 bp::register_ptr_to_python<
122 10 boost::shared_ptr<ControlParametrizationDataAbstract> >();
123
124
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 10 bp::class_<ControlParametrizationDataAbstract>(
125 "ControlParametrizationDataAbstract",
126 "Abstract class for control parametrization data.\n",
127
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 10 bp::init<ControlParametrizationModelAbstract*>(
128 20 bp::args("self", "model"),
129 "Create common data shared between control parametrization "
130 "models.\n\n"
131 ":param model: control parametrization model"))
132
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 10 .add_property("w",
133
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 10 bp::make_getter(&ControlParametrizationDataAbstract::w,
134 ✗ bp::return_internal_reference<>()),
135
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 20 bp::make_setter(&ControlParametrizationDataAbstract::w),
136 "differential control")
137
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 10 .add_property("u",
138
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 10 bp::make_getter(&ControlParametrizationDataAbstract::u,
139 ✗ bp::return_internal_reference<>()),
140
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 20 bp::make_setter(&ControlParametrizationDataAbstract::u),
141 "control parameters")
142
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 10 .add_property(
143 "dw_du",
144
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 10 bp::make_getter(&ControlParametrizationDataAbstract::dw_du,
145 ✗ bp::return_internal_reference<>()),
146
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 20 bp::make_setter(&ControlParametrizationDataAbstract::dw_du),
147 "Jacobian of the differential control wrt the control parameters")
148
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 10 .def(CopyableVisitor<ControlParametrizationDataAbstract>());
149 10 }
150
151 } // namespace python
152 } // namespace crocoddyl
153