GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/cost-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 86 95 90.5%
Branches: 88 176 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, 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 "python/crocoddyl/core/cost-base.hpp"
11
12 #include "python/crocoddyl/utils/copyable.hpp"
13 #include "python/crocoddyl/utils/deprecate.hpp"
14 #include "python/crocoddyl/utils/printable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeCostAbstract() {
20 // TODO: Remove once the deprecated update call has been removed in a future
21 // release
22 #pragma GCC diagnostic push
23 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
24
25 10 bp::register_ptr_to_python<boost::shared_ptr<CostModelAbstract> >();
26
27
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 10 bp::class_<CostModelAbstract_wrap, boost::noncopyable>(
28 "CostModelAbstract",
29 "Abstract multibody cost models.\n\n"
30 "In Crocoddyl, a cost model is defined by the scalar activation function "
31 "a(.) and by the residual\n"
32 " function r(.) as follows:\n"
33 " cost = a(r(x, u)),\n"
34 "where the residual function depends on the state point x, which lies in "
35 "the state manifold\n"
36 "described with a nq-tuple, its velocity xd that belongs to the tangent "
37 "space with nv dimension,\n"
38 "and the control input u. The dimension of the residual vector is "
39 "defined by nr, which belongs to\n"
40 "the Euclidean space. On the other hand, the activation function builds "
41 "a cost value based on the\n"
42 "definition of the residual vector. The residual vector has to be "
43 "specialized in a derived classes.",
44
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 10 bp::init<boost::shared_ptr<StateAbstract>,
45 boost::shared_ptr<ActivationModelAbstract>,
46 boost::shared_ptr<ResidualModelAbstract> >(
47 20 bp::args("self", "state", "activation", "residual"),
48 "Initialize the cost model.\n\n"
49 ":param state: state description\n"
50 ":param activation: activation model\n"
51 ":param residual: residual model"))
52
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>,
53 boost::shared_ptr<ActivationModelAbstract>, std::size_t>(
54
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 20 bp::args("self", "state", "activation", "nu"),
55 "Initialize the cost model.\n\n"
56 ":param state: state description\n"
57 ":param activation: activation model\n"
58 ":param nu: dimension of control vector (default state.nv)"))
59
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>,
60 boost::shared_ptr<ActivationModelAbstract> >(
61
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 20 bp::args("self", "state", "activation"),
62 "Initialize the cost model.\n\n"
63 ":param state: state description\n"
64 ":param activation: activation model"))
65
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>,
66 boost::shared_ptr<ResidualModelAbstract> >(
67
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 20 bp::args("self", "state", "residual"),
68 "Initialize the cost model.\n\n"
69 ":param state: state description\n"
70 ":param residual: residual model"))
71
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t, std::size_t>(
72
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 20 bp::args("self", "state", "nr", "nu"),
73 "Initialize the cost model.\n\n"
74 "We use ActivationModelQuad as a default activation model (i.e. "
75 "a=0.5*||r||^2).\n"
76 ":param state: state description\n"
77 ":param nr: dimension of residual vector\n"
78 ":param nu: dimension of control vector (default state.nv)"))
79
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t>(
80
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 20 bp::args("self", "state", "nr"),
81 "Initialize the cost model.\n\n"
82 "We use ActivationModelQuad as a default activation model (i.e. "
83 "a=0.5*||r||^2), and the default nu value is "
84 "obtained from state.nv.\n"
85 ":param state: state description\n"
86 ":param nr: dimension of cost vector"))
87
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 10 .def("calc", pure_virtual(&CostModelAbstract_wrap::calc),
88
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 20 bp::args("self", "data", "x", "u"),
89 "Compute the cost value and its residuals.\n\n"
90 ":param data: cost data\n"
91 ":param x: state point (dim. state.nx)\n"
92 ":param u: control input (dim. nu)")
93 .def<void (CostModelAbstract::*)(
94 const boost::shared_ptr<CostDataAbstract>&,
95 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
96
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 20 "calc", &CostModelAbstract::calc, bp::args("self", "data", "x"),
97 "Compute the total cost value for nodes that depends only on the "
98 "state.\n\n"
99 "It updates the total cost based on the state only.\n"
100 "This function is used in the terminal nodes of an optimal control "
101 "problem.\n"
102 ":param data: cost data\n"
103 ":param x: state point (dim. state.nx)")
104
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 20 .def("calcDiff", pure_virtual(&CostModelAbstract_wrap::calcDiff),
105
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 20 bp::args("self", "data", "x", "u"),
106 "Compute the derivatives of the cost function and its residuals.\n\n"
107 "It computes the partial derivatives of the cost function.\n"
108 "It assumes that calc has been run first.\n"
109 ":param data: cost data\n"
110 ":param x: state point (dim. state.nx)\n"
111 ":param u: control input (dim. nu)")
112 .def<void (CostModelAbstract::*)(
113 const boost::shared_ptr<CostDataAbstract>&,
114 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
115 "calcDiff", &CostModelAbstract::calcDiff,
116
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 20 bp::args("self", "data", "x"),
117 "Compute the Jacobian and Hessian of the cost functions with respect "
118 "to the state only.\n\n"
119 "It updates the Jacobian and Hessian of the cost function based on "
120 "the state only.\n"
121 "This function is used in the terminal nodes of an optimal control "
122 "problem.\n"
123 ":param data: cost data\n"
124 ":param x: state point (dim. state.nx)")
125
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 20 .def("createData", &CostModelAbstract_wrap::createData,
126 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
127
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 20 bp::args("self", "data"),
128 "Create the cost data.\n\n"
129 "Each cost model has its own data that needs to be allocated. This "
130 "function\n"
131 "returns the allocated data for a predefined cost.\n"
132 ":param data: shared data\n"
133 ":return cost data.")
134
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 10 .def("createData", &CostModelAbstract_wrap::default_createData,
135 ✗ bp::with_custodian_and_ward_postcall<0, 2>())
136
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 10 .add_property(
137 "state",
138
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 10 bp::make_function(&CostModelAbstract_wrap::get_state,
139 10 bp::return_value_policy<bp::return_by_value>()),
140 "state description")
141
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 10 .add_property(
142 "activation",
143
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 10 bp::make_function(&CostModelAbstract_wrap::get_activation,
144 10 bp::return_value_policy<bp::return_by_value>()),
145 "activation model")
146
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 10 .add_property(
147 "residual",
148
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 10 bp::make_function(&CostModelAbstract_wrap::get_residual,
149 10 bp::return_value_policy<bp::return_by_value>()),
150 "residual model")
151
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 20 .add_property("nu", bp::make_function(&CostModelAbstract_wrap::get_nu),
152 "dimension of control vector")
153
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 10 .def(PrintableVisitor<CostModelAbstract>());
154
155 10 bp::register_ptr_to_python<boost::shared_ptr<CostDataAbstract> >();
156
157
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 10 bp::class_<CostDataAbstract>(
158 "CostDataAbstract", "Abstract class for cost data.\n\n",
159
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 10 bp::init<CostModelAbstract*, DataCollectorAbstract*>(
160 10 bp::args("self", "model", "data"),
161 "Create common data shared between cost models.\n\n"
162 ":param model: cost model\n"
163 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
164
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
165
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 10 .add_property("shared",
166
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 10 bp::make_getter(&CostDataAbstract::shared,
167 10 bp::return_internal_reference<>()),
168 "shared data")
169
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 10 .add_property(
170 "activation",
171
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 10 bp::make_getter(&CostDataAbstract::activation,
172 10 bp::return_value_policy<bp::return_by_value>()),
173 "activation data")
174
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 10 .add_property(
175 "residual",
176
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 10 bp::make_getter(&CostDataAbstract::residual,
177 10 bp::return_value_policy<bp::return_by_value>()),
178 "residual data")
179
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 10 .add_property(
180 "cost",
181
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 10 bp::make_getter(&CostDataAbstract::cost,
182 ✗ bp::return_value_policy<bp::return_by_value>()),
183
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 20 bp::make_setter(&CostDataAbstract::cost), "cost value")
184
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 10 .add_property("Lx",
185
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 10 bp::make_getter(&CostDataAbstract::Lx,
186 ✗ bp::return_internal_reference<>()),
187
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 20 bp::make_setter(&CostDataAbstract::Lx),
188 "Jacobian of the cost")
189
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 10 .add_property("Lu",
190
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 10 bp::make_getter(&CostDataAbstract::Lu,
191 ✗ bp::return_internal_reference<>()),
192
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 20 bp::make_setter(&CostDataAbstract::Lu),
193 "Jacobian of the cost")
194
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 10 .add_property("Lxx",
195
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 10 bp::make_getter(&CostDataAbstract::Lxx,
196 ✗ bp::return_internal_reference<>()),
197
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 20 bp::make_setter(&CostDataAbstract::Lxx),
198 "Hessian of the cost")
199
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 10 .add_property("Lxu",
200
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 10 bp::make_getter(&CostDataAbstract::Lxu,
201 ✗ bp::return_internal_reference<>()),
202
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 20 bp::make_setter(&CostDataAbstract::Lxu),
203 "Hessian of the cost")
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 10 .add_property("Luu",
205
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 10 bp::make_getter(&CostDataAbstract::Luu,
206 ✗ bp::return_internal_reference<>()),
207
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 20 bp::make_setter(&CostDataAbstract::Luu),
208 "Hessian of the cost")
209
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 10 .add_property(
210 "r",
211
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 10 bp::make_function(&CostDataAbstract::get_r,
212
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 20 deprecated<bp::return_internal_reference<> >(
213 "Deprecated. Use residual.r.")),
214
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 20 bp::make_function(&CostDataAbstract::set_r,
215
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 20 deprecated<>("Deprecated. Use residual.r.")),
216 "cost residual")
217
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 10 .add_property(
218 "Rx",
219
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 10 bp::make_function(&CostDataAbstract::get_Rx,
220
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 20 deprecated<bp::return_internal_reference<> >(
221 "Deprecated. Use residual.Rx.")),
222
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 20 bp::make_function(&CostDataAbstract::set_Rx,
223
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 20 deprecated<>("Deprecated. Use residual.Rx.")),
224 "Jacobian of the cost residual")
225
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 10 .add_property(
226 "Ru",
227
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 10 bp::make_function(&CostDataAbstract::get_Ru,
228
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 20 deprecated<bp::return_internal_reference<> >(
229 "Deprecated. Use residual.Ru.")),
230
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 20 bp::make_function(&CostDataAbstract::set_Ru,
231
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 20 deprecated<>("Deprecated. Use residual.Ru.")),
232 "Jacobian of the cost residual")
233
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 10 .def(CopyableVisitor<CostDataAbstract>());
234
235 #pragma GCC diagnostic pop
236 10 }
237
238 } // namespace python
239 } // namespace crocoddyl
240