GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/crocoddyl.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, INRIA,
5 // Heriot-Watt University
6 // University of Oxford Copyright note valid unless otherwise stated in
7 // individual files. All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/utils/version.hpp"
11 #include "python/crocoddyl/fwd.hpp"
12 #include "python/crocoddyl/utils/set-converter.hpp"
13 #include "python/crocoddyl/utils/vector-converter.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 namespace bp = boost::python;
19
20
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 40 BOOST_PYTHON_MODULE(libcrocoddyl_pywrap) {
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 20 bp::scope().attr("__version__") = crocoddyl::printVersion();
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 20 bp::scope().attr("__raw_version__") = bp::str(CROCODDYL_VERSION);
23
24 40 bp::enum_<DType>("DType")
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 20 .value("Float64", DType::Float64)
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 20 .value("Float32", DType::Float32)
27 #ifdef CROCODDYL_WITH_CODEGEN_DISABLE
28 .value("ADFloat64", DType::ADFloat64)
29 #endif
30 ;
31
32 20 eigenpy::enableEigenPy();
33
34 typedef double Scalar;
35 typedef Eigen::Matrix<Scalar, 4, 1> Vector4;
36 typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
37 typedef Eigen::Matrix<Scalar, 4, 6> Matrix46;
38 typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> Matrix6x;
39 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3> MatrixX3;
40 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX;
41 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;
42 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
43 RowMatrixX;
44
45 20 eigenpy::enableEigenPySpecific<Vector4>();
46 20 eigenpy::enableEigenPySpecific<Vector6>();
47 20 eigenpy::enableEigenPySpecific<Matrix46>();
48 20 eigenpy::enableEigenPySpecific<MatrixX3>();
49 20 eigenpy::enableEigenPySpecific<Matrix6x>();
50
51 // Register converters between std::vector and Python list
52
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 20 StdVectorPythonVisitor<std::vector<VectorX>, true>::expose("StdVec_VectorX");
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 20 StdVectorPythonVisitor<std::vector<MatrixX>, true>::expose("StdVec_MatrixX");
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 20 StdVectorPythonVisitor<std::vector<RowMatrixX>, true>::expose(
55 "StdVec_RowMatrixX");
56
57 // Register converters between std::set and Python set
58 StdSetPythonVisitor<std::string, std::less<std::string>,
59 std::allocator<std::string>,
60
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 20 true>::expose("StdSet_String");
61
62 20 exposeCore();
63 20 exposeMultibody();
64 20 }
65
66 } // namespace python
67 } // namespace crocoddyl
68