GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/diff-action-base.hpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 27 47 57.4%
Branches: 27 150 18.0%
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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_DIFF_ACTION_BASE_HPP_
11 #define BINDINGS_PYTHON_CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
12
13 #include "crocoddyl/core/diff-action-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 DifferentialActionModelAbstract_wrap
21 : public DifferentialActionModelAbstract,
22 public bp::wrapper<DifferentialActionModelAbstract> {
23 public:
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 using DifferentialActionModelAbstract::unone_;
26
27 6 DifferentialActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state,
28 const std::size_t nu,
29 const std::size_t nr = 1,
30 const std::size_t ng = 0,
31 const std::size_t nh = 0,
32 const std::size_t ng_T = 0,
33 const std::size_t nh_T = 0)
34 6 : DifferentialActionModelAbstract(state, nu, nr, ng, nh, ng_T, nh_T),
35
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 6 bp::wrapper<DifferentialActionModelAbstract>() {
36
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 6 unone_ = NAN * MathBase::VectorXs::Ones(nu);
37 6 }
38
39 242 void calc(const boost::shared_ptr<DifferentialActionDataAbstract>& data,
40 const Eigen::Ref<const Eigen::VectorXd>& x,
41 const Eigen::Ref<const Eigen::VectorXd>& u) {
42
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 242 if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
43 ✗ throw_pretty(
44 "Invalid argument: " << "x has wrong dimension (it should be " +
45 std::to_string(state_->get_nx()) + ")");
46 }
47
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 242 if (static_cast<std::size_t>(u.size()) != nu_) {
48 ✗ throw_pretty(
49 "Invalid argument: " << "u has wrong dimension (it should be " +
50 std::to_string(nu_) + ")");
51 }
52
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 242 if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
53
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 3 return bp::call<void>(this->get_override("calc").ptr(), data,
54 6 (Eigen::VectorXd)x);
55 } else {
56
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 239 return bp::call<void>(this->get_override("calc").ptr(), data,
57
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 478 (Eigen::VectorXd)x, (Eigen::VectorXd)u);
58 }
59 }
60
61 78 void calcDiff(const boost::shared_ptr<DifferentialActionDataAbstract>& data,
62 const Eigen::Ref<const Eigen::VectorXd>& x,
63 const Eigen::Ref<const Eigen::VectorXd>& u) {
64
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 78 if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
65 ✗ throw_pretty(
66 "Invalid argument: " << "x has wrong dimension (it should be " +
67 std::to_string(state_->get_nx()) + ")");
68 }
69
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 78 if (static_cast<std::size_t>(u.size()) != nu_) {
70 ✗ throw_pretty(
71 "Invalid argument: " << "u has wrong dimension (it should be " +
72 std::to_string(nu_) + ")");
73 }
74
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 78 if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
75
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 1 return bp::call<void>(this->get_override("calcDiff").ptr(), data,
76 2 (Eigen::VectorXd)x);
77 } else {
78
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 77 return bp::call<void>(this->get_override("calcDiff").ptr(), data,
79
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 154 (Eigen::VectorXd)x, (Eigen::VectorXd)u);
80 }
81 }
82
83 265 boost::shared_ptr<DifferentialActionDataAbstract> createData() {
84 265 enableMultithreading() = false;
85
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 265 if (boost::python::override createData = this->get_override("createData")) {
86 return bp::call<boost::shared_ptr<DifferentialActionDataAbstract> >(
87
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 265 createData.ptr());
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 265 }
89 ✗ return DifferentialActionModelAbstract::createData();
90 }
91
92 ✗ boost::shared_ptr<DifferentialActionDataAbstract> default_createData() {
93 ✗ return this->DifferentialActionModelAbstract::createData();
94 }
95
96 ✗ void quasiStatic(
97 const boost::shared_ptr<DifferentialActionDataAbstract>& data,
98 Eigen::Ref<Eigen::VectorXd> u, const Eigen::Ref<const Eigen::VectorXd>& x,
99 const std::size_t maxiter, const double tol) {
100 ✗ if (boost::python::override quasiStatic =
101 ✗ this->get_override("quasiStatic")) {
102 ✗ u = bp::call<Eigen::VectorXd>(quasiStatic.ptr(), data, (Eigen::VectorXd)x,
103 ✗ maxiter, tol);
104 ✗ if (static_cast<std::size_t>(u.size()) != nu_) {
105 ✗ throw_pretty(
106 "Invalid argument: " << "u has wrong dimension (it should be " +
107 std::to_string(nu_) + ")");
108 }
109 ✗ return;
110 }
111 ✗ return DifferentialActionModelAbstract::quasiStatic(data, u, x, maxiter,
112 ✗ tol);
113 }
114
115 ✗ void default_quasiStatic(
116 const boost::shared_ptr<DifferentialActionDataAbstract>& data,
117 Eigen::Ref<Eigen::VectorXd> u, const Eigen::Ref<const Eigen::VectorXd>& x,
118 const std::size_t maxiter, const double tol) {
119 ✗ return this->DifferentialActionModelAbstract::quasiStatic(data, u, x,
120 ✗ maxiter, tol);
121 }
122 };
123
124 20 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(
125 DifferentialActionModel_quasiStatic_wraps,
126 DifferentialActionModelAbstract::quasiStatic_x, 2, 4)
127
128 } // namespace python
129 } // namespace crocoddyl
130
131 #endif // BINDINGS_PYTHON_CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
132