GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/control-gravity.cpp
Date: 2025-03-11 23:51:10
Exec Total Coverage
Lines: 30 32 93.8%
Branches: 24 48 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/residuals/control-gravity.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeResidualControlGrav() {
19 10 bp::register_ptr_to_python<std::shared_ptr<ResidualModelControlGrav> >();
20
21
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 10 bp::class_<ResidualModelControlGrav, bp::bases<ResidualModelAbstract> >(
22 "ResidualModelControlGrav",
23 "This residual function is defined as r = a(u) - g(q), where a(u)\n"
24 "is the actuated torque; and q, g(q) are the generalized position\n"
25 "and gravity vector, respectively.",
26
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 10 bp::init<std::shared_ptr<StateMultibody>, std::size_t>(
27 20 bp::args("self", "state", "nu"),
28 "Initialize the control-gravity residual model.\n\n"
29 ":param state: state description\n"
30 ":param nu: dimension of the control vector"))
31
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 10 .def(bp::init<std::shared_ptr<StateMultibody> >(
32
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 20 bp::args("self", "state"),
33 "Initialize the control-gravity residual model.\n\n"
34 "The default nu is obtained from state.nv.\n"
35 ":param state: state description"))
36 .def<void (ResidualModelControlGrav::*)(
37 const std::shared_ptr<ResidualDataAbstract> &,
38 const Eigen::Ref<const Eigen::VectorXd> &,
39 20 const Eigen::Ref<const Eigen::VectorXd> &)>(
40 "calc", &ResidualModelControlGrav::calc,
41
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 20 bp::args("self", "data", "x", "u"),
42 "Compute the control residual.\n\n"
43 ":param data: residual data\n"
44 ":param x: state point (dim. state.nx)\n"
45 ":param u: control input (dim. nu)")
46 .def<void (ResidualModelControlGrav::*)(
47 const std::shared_ptr<ResidualDataAbstract> &,
48
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
49
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
50 .def<void (ResidualModelControlGrav::*)(
51 const std::shared_ptr<ResidualDataAbstract> &,
52 const Eigen::Ref<const Eigen::VectorXd> &,
53
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
54 "calcDiff", &ResidualModelControlGrav::calcDiff,
55
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 20 bp::args("self", "data", "x", "u"),
56 "Compute the derivatives of the control residual.\n\n"
57 ":param data: action data\n"
58 ":param x: state point (dim. state.nx)\n"
59 ":param u: control input (dim. nu)")
60 .def<void (ResidualModelControlGrav::*)(
61 const std::shared_ptr<ResidualDataAbstract> &,
62
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 10 const Eigen::Ref<const Eigen::VectorXd> &)>(
63 "calcDiff", &ResidualModelAbstract::calcDiff,
64
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 20 bp::args("self", "data", "x"))
65
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 20 .def("createData", &ResidualModelControlGrav::createData,
66 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
67
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 20 bp::args("self", "data"),
68 "Create the control residual data.\n\n"
69 "Each residual model has its own data that needs to be allocated. "
70 "This "
71 "function\n"
72 "returns the allocated data for the control gravity residual.\n"
73 ":param data: shared data\n"
74 ":return residual data.")
75
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 10 .def(CopyableVisitor<ResidualModelControlGrav>());
76
77 10 bp::register_ptr_to_python<std::shared_ptr<ResidualDataControlGrav> >();
78
79
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 10 bp::class_<ResidualDataControlGrav, bp::bases<ResidualDataAbstract> >(
80 "ResidualDataControlGrav", "Data for control gravity residual.\n\n",
81
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 10 bp::init<ResidualModelControlGrav *, DataCollectorAbstract *>(
82 10 bp::args("self", "model", "data"),
83 "Create control gravity residual data.\n\n"
84 ":param model: control gravity residual model\n"
85 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
86
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("pinocchio",
88
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 20 bp::make_getter(&ResidualDataControlGrav::pinocchio),
89 "Pinocchio data used for internal computations")
90
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 10 .add_property("actuation",
91
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 10 bp::make_getter(&ResidualDataControlGrav::actuation,
92 10 bp::return_internal_reference<>()),
93 "actuation model")
94
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 10 .def(CopyableVisitor<ResidualDataControlGrav>());
95 10 }
96
97 } // namespace python
98 } // namespace crocoddyl
99