GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/cost-base.hpp
Date: 2025-02-24 23:41:29
Exec Total Coverage
Lines: 10 47 21.3%
Branches: 8 154 5.2%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, 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 #ifndef BINDINGS_PYTHON_CROCODDYL_CORE_COST_BASE_HPP_
11 #define BINDINGS_PYTHON_CROCODDYL_CORE_COST_BASE_HPP_
12
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/core/utils/exception.hpp"
15 #include "python/crocoddyl/core/core.hpp"
16
17 namespace crocoddyl {
18 namespace python {
19
20 class CostModelAbstract_wrap : public CostModelAbstract,
21 public bp::wrapper<CostModelAbstract> {
22 public:
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 using CostModelAbstract::nu_;
25 using CostModelAbstract::unone_;
26
27 ✗ CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
28 std::shared_ptr<ActivationModelAbstract> activation,
29 std::shared_ptr<ResidualModelAbstract> residual)
30 ✗ : CostModelAbstract(state, activation, residual) {
31 ✗ unone_ = NAN * MathBase::VectorXs::Ones(nu_);
32 }
33
34 1 CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
35 std::shared_ptr<ActivationModelAbstract> activation,
36 const std::size_t nu)
37
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 1 : CostModelAbstract(state, activation, nu) {
38
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 1 unone_ = NAN * MathBase::VectorXs::Ones(nu);
39 1 }
40
41 6 CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
42 std::shared_ptr<ActivationModelAbstract> activation)
43
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 6 : CostModelAbstract(state, activation) {
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 6 unone_ = NAN * MathBase::VectorXs::Ones(nu_);
45 6 }
46
47 ✗ CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
48 std::shared_ptr<ResidualModelAbstract> residual)
49 ✗ : CostModelAbstract(state, residual) {
50 ✗ unone_ = NAN * MathBase::VectorXs::Ones(nu_);
51 }
52
53 ✗ CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
54 const std::size_t nr, const std::size_t nu)
55 ✗ : CostModelAbstract(state, nr, nu), bp::wrapper<CostModelAbstract>() {
56 ✗ unone_ = NAN * MathBase::VectorXs::Ones(nu);
57 }
58
59 ✗ CostModelAbstract_wrap(std::shared_ptr<StateAbstract> state,
60 const std::size_t nr)
61 ✗ : CostModelAbstract(state, nr), bp::wrapper<CostModelAbstract>() {
62 ✗ unone_ = NAN * MathBase::VectorXs::Ones(nu_);
63 }
64
65 ✗ void calc(const std::shared_ptr<CostDataAbstract>& data,
66 const Eigen::Ref<const Eigen::VectorXd>& x,
67 const Eigen::Ref<const Eigen::VectorXd>& u) {
68 ✗ if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
69 ✗ throw_pretty(
70 "Invalid argument: " << "x has wrong dimension (it should be " +
71 std::to_string(state_->get_nx()) + ")");
72 }
73 ✗ if (static_cast<std::size_t>(u.size()) != nu_) {
74 ✗ throw_pretty(
75 "Invalid argument: " << "u has wrong dimension (it should be " +
76 std::to_string(nu_) + ")");
77 }
78 ✗ if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
79 ✗ return bp::call<void>(this->get_override("calc").ptr(), data,
80 ✗ (Eigen::VectorXd)x);
81 } else {
82 ✗ return bp::call<void>(this->get_override("calc").ptr(), data,
83 ✗ (Eigen::VectorXd)x, (Eigen::VectorXd)u);
84 }
85 }
86
87 ✗ void calcDiff(const std::shared_ptr<CostDataAbstract>& data,
88 const Eigen::Ref<const Eigen::VectorXd>& x,
89 const Eigen::Ref<const Eigen::VectorXd>& u) {
90 ✗ if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
91 ✗ throw_pretty(
92 "Invalid argument: " << "x has wrong dimension (it should be " +
93 std::to_string(state_->get_nx()) + ")");
94 }
95 ✗ if (static_cast<std::size_t>(u.size()) != nu_) {
96 ✗ throw_pretty(
97 "Invalid argument: " << "u has wrong dimension (it should be " +
98 std::to_string(nu_) + ")");
99 }
100 ✗ if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
101 ✗ return bp::call<void>(this->get_override("calcDiff").ptr(), data,
102 ✗ (Eigen::VectorXd)x);
103 } else {
104 ✗ return bp::call<void>(this->get_override("calcDiff").ptr(), data,
105 ✗ (Eigen::VectorXd)x, (Eigen::VectorXd)u);
106 }
107 }
108
109 ✗ std::shared_ptr<CostDataAbstract> createData(
110 DataCollectorAbstract* const data) {
111 ✗ enableMultithreading() = false;
112 ✗ if (boost::python::override createData = this->get_override("createData")) {
113 return bp::call<std::shared_ptr<CostDataAbstract> >(createData.ptr(),
114 ✗ boost::ref(data));
115 }
116 ✗ return CostModelAbstract::createData(data);
117 }
118
119 15 std::shared_ptr<CostDataAbstract> default_createData(
120 DataCollectorAbstract* const data) {
121 15 return this->CostModelAbstract::createData(data);
122 }
123 };
124
125 } // namespace python
126 } // namespace crocoddyl
127
128 #endif // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_COST_BASE_HPP_
129