GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/control-gravity.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 18 18 100.0%
Branches: 48 96 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2025, 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 template <typename Model>
19 struct ResidualModelControlGravVisitor
20 : public bp::def_visitor<ResidualModelControlGravVisitor<Model>> {
21 typedef typename Model::ResidualDataAbstract Data;
22 typedef typename Model::Base ModelBase;
23 typedef typename Model::StateMultibody State;
24 typedef typename Model::VectorXs VectorXs;
25 template <class PyClass>
26 40 void visit(PyClass& cl) const {
27
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 40 cl.def(bp::init<std::shared_ptr<State>>(
28 bp::args("self", "state"),
29 "Initialize the control-gravity residual model.\n\n"
30 "The default nu is obtained from state.nv.\n"
31 ":param state: state description"))
32
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 80 .def(
33 "calc",
34 static_cast<void (Model::*)(
35 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
36 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
37 bp::args("self", "data", "x", "u"),
38 "Compute the control residual.\n\n"
39 ":param data: residual data\n"
40 ":param x: state point (dim. state.nx)\n"
41 ":param u: control input (dim. nu)")
42
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 80 .def("calc",
43 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
44 const Eigen::Ref<const VectorXs>&)>(
45 &Model::calc),
46 bp::args("self", "data", "x"))
47
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 80 .def(
48 "calcDiff",
49 static_cast<void (Model::*)(
50 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
51 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
52 bp::args("self", "data", "x", "u"),
53 "Compute the derivatives of the control residual.\n\n"
54 ":param data: action data\n"
55 ":param x: state point (dim. state.nx)\n"
56 ":param u: control input (dim. nu)")
57
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 80 .def("calcDiff",
58 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
59 const Eigen::Ref<const VectorXs>&)>(
60 &Model::calcDiff),
61 bp::args("self", "data", "x"))
62
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 80 .def("createData", &Model::createData,
63 40 bp::with_custodian_and_ward_postcall<0, 2>(),
64 bp::args("self", "data"),
65 "Create the control residual data.\n\n"
66 "Each residual model has its own data that needs to be allocated. "
67 "This "
68 "function\n"
69 "returns the allocated data for the control gravity residual.\n"
70 ":param data: shared data\n"
71 ":return residual data.");
72 40 }
73 };
74
75 template <typename Data>
76 struct ResidualDataControlGravVisitor
77 : public bp::def_visitor<ResidualDataControlGravVisitor<Data>> {
78 template <class PyClass>
79 40 void visit(PyClass& cl) const {
80
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 40 cl.add_property("pinocchio", bp::make_getter(&Data::pinocchio),
81 "Pinocchio data used for internal computations")
82
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 40 .add_property("actuation",
83 bp::make_getter(&Data::actuation,
84 40 bp::return_internal_reference<>()),
85 "actuation model");
86 40 }
87 };
88
89 #define CROCODDYL_RESIDUAL_MODEL_CONTROL_GRAV_PYTHON_BINDINGS(Scalar) \
90 typedef ResidualModelControlGravTpl<Scalar> Model; \
91 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
92 typedef typename Model::StateMultibody State; \
93 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
94 bp::class_<Model, bp::bases<ModelBase>>( \
95 "ResidualModelControlGrav", \
96 "This residual function is defined as r = a(u) - g(q), where a(u) is " \
97 "the actuated torque; and q, g(q) are the generalized position and " \
98 "gravity vector, respectively.", \
99 bp::init<std::shared_ptr<State>, std::size_t>( \
100 bp::args("self", "state", "nu"), \
101 "Initialize the control-gravity residual model.\n\n" \
102 ":param state: state description\n" \
103 ":param nu: dimension of the control vector")) \
104 .def(ResidualModelControlGravVisitor<Model>()) \
105 .def(CastVisitor<Model>()) \
106 .def(PrintableVisitor<Model>()) \
107 .def(CopyableVisitor<Model>());
108
109 #define CROCODDYL_RESIDUAL_DATA_CONTROL_GRAV_PYTHON_BINDINGS(Scalar) \
110 typedef ResidualDataControlGravTpl<Scalar> Data; \
111 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
112 typedef ResidualModelControlGravTpl<Scalar> Model; \
113 typedef Model::DataCollectorAbstract DataCollector; \
114 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
115 bp::class_<Data, bp::bases<DataBase>>( \
116 "ResidualDataControlGrav", "Data for control gravity residual.\n\n", \
117 bp::init<Model*, DataCollector*>( \
118 bp::args("self", "model", "data"), \
119 "Create control gravity residual data.\n\n" \
120 ":param model: control gravity residual model\n" \
121 ":param data: shared data")[bp::with_custodian_and_ward< \
122 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
123 .def(ResidualDataControlGravVisitor<Data>()) \
124 .def(CopyableVisitor<Data>());
125
126 10 void exposeResidualControlGrav() {
127
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 20 CROCODDYL_PYTHON_SCALARS(
128 CROCODDYL_RESIDUAL_MODEL_CONTROL_GRAV_PYTHON_BINDINGS)
129
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_DATA_CONTROL_GRAV_PYTHON_BINDINGS)
130 10 }
131
132 } // namespace python
133 } // namespace crocoddyl
134