GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/control-base.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 23 23 100.0%
Branches: 70 140 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, 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/vector-converter.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 template <typename Model>
19 struct ControlParametrizationModelAbstractVisitor
20 : public bp::def_visitor<
21 ControlParametrizationModelAbstractVisitor<Model>> {
22 template <class PyClass>
23 40 void visit(PyClass& cl) const {
24
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 40 cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "t", "u"),
25 "Compute the control inputs.\n\n"
26 ":param data: control-parametrization data\n"
27 ":param t: normalized time in [0, 1]\n"
28 ":param u: control parameters (dim control.nu)")
29
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def("calcDiff", pure_virtual(&Model::calcDiff),
30 bp::args("self", "data", "t", "u"),
31 "Compute the Jacobian of the control inputs with respect to the "
32 "control parameters.\n\n"
33 "It assumes that calc has been run first.\n"
34 ":param data: control-parametrization data\n"
35 ":param t: normalized time in [0, 1]\n"
36 ":param u: control parameters (dim control.nu)")
37
1/2
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
 80 .def("createData", &Model::createData, &Model::default_createData,
38 bp::args("self"),
39 "Create the control-parametrization data.\n\n"
40 "Each control parametrization model has its own data that needs "
41 "to be allocated. This function returns the allocated data for a "
42 "predefined control parametrization model.\n"
43 ":return data.")
44
4/8
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 20 times.
✗ Branch 11 not taken.
 80 .def("params", pure_virtual(&Model::params),
45 bp::args("self", "data", "t", "w"),
46 "Update the control parameters u for a specified time t given the "
47 "control input w.\n\n"
48 ":param data: control-parametrization data\n"
49 ":param t: normalized time in [0, 1]\n"
50 ":param w: control inputs (dim control.nw)")
51
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def("convertBounds", pure_virtual(&Model::convertBounds_wrap),
52 bp::args("self", "w_lb", "w_ub"),
53 "Convert the bounds on the control inputs w to bounds on the "
54 "control parameters u.\n\n"
55 ":param w_lb: control lower bounds (dim control.nw)\n"
56 ":param w_ub: control upper bounds (dim control.nw)\n"
57 ":return p_lb, p_ub: lower and upper bounds on the control "
58 "parameters (dim control.nu)")
59
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def("multiplyByJacobian",
60 pure_virtual(&Model::multiplyByJacobian_wrap),
61 bp::args("self", "data", "A"),
62 "Compute the product between the given matrix A and the "
63 "derivative of the control input with respect to the control "
64 "parameters (i.e., A*dw_du).\n\n"
65 "It assumes that calc has been run first.\n"
66 ":param data: control-parametrization data\n"
67 ":param A: matrix to multiply (dim na x control.nw)\n"
68 ":return Product between A and the partial derivative of the calc "
69 "function (dim na x control.nu)")
70
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def("multiplyJacobianTransposeBy",
71 pure_virtual(&Model::multiplyJacobianTransposeBy_wrap),
72 bp::args("self", "data", "A"),
73 "Compute the product between the transpose of the derivative of "
74 "the control input with respect to the control parameters and a "
75 "given matrix A (i.e., dw_du^T*A).\n\n"
76 "It assumes that calc has been run first.\n"
77 ":param data: control-parametrization data\n"
78 ":param A: matrix to multiply (dim control.nw x na)\n"
79 ":return Product between the partial derivative of the calc "
80 "function (transposed) and A (dim control.nu x "
81 "na)")
82
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .add_property("nw", bp::make_function(&Model::get_nw),
83 "dimension of control inputs")
84
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property("nu", bp::make_function(&Model::get_nu),
85 "dimension of the control parameters");
86 40 }
87 };
88
89 template <typename Data>
90 struct ControlParametrizationDataAbstractVisitor
91 : public bp::def_visitor<ControlParametrizationDataAbstractVisitor<Data>> {
92 template <class PyClass>
93 40 void visit(PyClass& cl) const {
94
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 40 cl.add_property(
95 40 "w", bp::make_getter(&Data::w, bp::return_internal_reference<>()),
96 bp::make_setter(&Data::w), "differential control")
97
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
98 40 "u", bp::make_getter(&Data::u, bp::return_internal_reference<>()),
99 bp::make_setter(&Data::u), "control parameters")
100
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
101 "dw_du",
102 40 bp::make_getter(&Data::dw_du, bp::return_internal_reference<>()),
103 bp::make_setter(&Data::dw_du),
104 "Jacobian of the differential control wrt the control parameters");
105 40 }
106 };
107
108 #define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_ABSTRACT_PYTHON_BINDINGS( \
109 Scalar) \
110 typedef ControlParametrizationModelAbstractTpl<Scalar> Model; \
111 typedef ControlParametrizationModelAbstractTpl_wrap<Scalar> Model_wrap; \
112 typedef std::shared_ptr<Model> ModelPtr; \
113 StdVectorPythonVisitor<std::vector<ModelPtr>, true>::expose( \
114 "StdVec_ControlParametrizationModel"); \
115 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
116 bp::class_<Model_wrap, boost::noncopyable>( \
117 "ControlParametrizationModelAbstract", \
118 "Abstract class for the control parametrization.\n\n" \
119 "A control is a function of time (normalized in [0,1]) and the control " \
120 "parameters u.", \
121 bp::init<std::size_t, std::size_t>( \
122 bp::args("self", "nw", "nu"), \
123 "Initialize the control dimensions.\n\n" \
124 ":param nw: dimension of control inputs\n" \
125 ":param nu: dimension of control parameters")) \
126 .def(ControlParametrizationModelAbstractVisitor<Model_wrap>()) \
127 .def(CopyableVisitor<Model_wrap>());
128 // .def(PrintableVisitor<Model_wrap>())
129
130 #define CROCODDYL_CONTROL_PARAMETRIZATION_DATA_ABSTRACT_PYTHON_BINDINGS( \
131 Scalar) \
132 typedef ControlParametrizationDataAbstractTpl<Scalar> Data; \
133 typedef ControlParametrizationModelAbstractTpl<Scalar> Model; \
134 typedef std::shared_ptr<Data> DataPtr; \
135 StdVectorPythonVisitor<std::vector<DataPtr>, true>::expose( \
136 "StdVec_ControlParametrizationData"); \
137 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
138 bp::class_<Data>( \
139 "ControlParametrizationDataAbstract", \
140 "Abstract class for control parametrization data.\n", \
141 bp::init<Model*>(bp::args("self", "model"), \
142 "Create common data shared between control " \
143 "parametrization models.\n\n" \
144 ":param model: control parametrization model")) \
145 .def(ControlParametrizationDataAbstractVisitor<Data>()) \
146 .def(CopyableVisitor<Data>());
147
148 10 void exposeControlParametrizationAbstract() {
149
19/38
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 10 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 10 times.
✗ Branch 25 not taken.
✓ Branch 27 taken 10 times.
✗ Branch 28 not taken.
✓ Branch 33 taken 10 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 10 times.
✗ Branch 37 not taken.
✓ Branch 39 taken 10 times.
✗ Branch 40 not taken.
✓ Branch 45 taken 10 times.
✗ Branch 46 not taken.
✓ Branch 49 taken 10 times.
✗ Branch 50 not taken.
✓ Branch 52 taken 10 times.
✗ Branch 53 not taken.
✓ Branch 59 taken 10 times.
✗ Branch 60 not taken.
✓ Branch 62 taken 10 times.
✗ Branch 63 not taken.
✓ Branch 65 taken 10 times.
✗ Branch 66 not taken.
✓ Branch 68 taken 10 times.
✗ Branch 69 not taken.
✓ Branch 71 taken 10 times.
✗ Branch 72 not taken.
✓ Branch 74 taken 10 times.
✗ Branch 75 not taken.
 20 CROCODDYL_PYTHON_SCALARS(
150 CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_ABSTRACT_PYTHON_BINDINGS)
151
19/38
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 10 times.
✗ Branch 22 not taken.
✓ Branch 24 taken 10 times.
✗ Branch 25 not taken.
✓ Branch 27 taken 10 times.
✗ Branch 28 not taken.
✓ Branch 33 taken 10 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 10 times.
✗ Branch 37 not taken.
✓ Branch 39 taken 10 times.
✗ Branch 40 not taken.
✓ Branch 45 taken 10 times.
✗ Branch 46 not taken.
✓ Branch 49 taken 10 times.
✗ Branch 50 not taken.
✓ Branch 52 taken 10 times.
✗ Branch 53 not taken.
✓ Branch 59 taken 10 times.
✗ Branch 60 not taken.
✓ Branch 62 taken 10 times.
✗ Branch 63 not taken.
✓ Branch 65 taken 10 times.
✗ Branch 66 not taken.
✓ Branch 68 taken 10 times.
✗ Branch 69 not taken.
✓ Branch 71 taken 10 times.
✗ Branch 72 not taken.
✓ Branch 74 taken 10 times.
✗ Branch 75 not taken.
 20 CROCODDYL_PYTHON_SCALARS(
152 CROCODDYL_CONTROL_PARAMETRIZATION_DATA_ABSTRACT_PYTHON_BINDINGS)
153 10 }
154
155 } // namespace python
156 } // namespace crocoddyl
157