GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actions/diff-lqr.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 72 72 100.0%
Branches: 141 282 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, 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/core/actions/diff-lqr.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/core/diff-action-base.hpp"
14 #include "python/crocoddyl/utils/deprecate.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 template <typename Model>
20 struct DifferentialActionModelLQRVisitor
21 : public bp::def_visitor<DifferentialActionModelLQRVisitor<Model>> {
22 typedef typename Model::DifferentialActionDataAbstract Data;
23 typedef typename Model::Base ModelBase;
24 typedef typename Model::MatrixXs MatrixXs;
25 typedef typename Model::VectorXs VectorXs;
26 42 BOOST_PYTHON_FUNCTION_OVERLOADS(DifferentialActionModelLQR_Random_wrap,
27 Model::Random, 2, 4)
28 template <class PyClass>
29 40 void visit(PyClass& cl) const {
30
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 40 cl.def(bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs,
31 VectorXs, VectorXs, VectorXs>(
32 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"),
33 "Initialize the differential LQR action model.\n\n"
34 ":param Aq: position matrix\n"
35 ":param Av: velocity matrix\n"
36 ":param B: input matrix\n"
37 ":param Q: state weight matrix\n"
38 ":param R: input weight matrix\n"
39 ":param N: state-input weight matrix\n"
40 ":param f: dynamics drift\n"
41 ":param q: state weight vector\n"
42 ":param r: input weight vector"))
43
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def(bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs,
44 MatrixXs, MatrixXs, MatrixXs, VectorXs, VectorXs,
45 VectorXs, VectorXs, VectorXs>(
46 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "G", "H", "f", "q",
47 "r", "g", "h"),
48 "Initialize the differential LQR action model.\n\n"
49 ":param Aq: position matrix\n"
50 ":param Av: velocity matrix\n"
51 ":param B: input matrix\n"
52 ":param Q: state weight matrix\n"
53 ":param R: input weight matrix\n"
54 ":param N: state-input weight matrix\n"
55 ":param G: state-input inequality constraint matrix\n"
56 ":param H: state-input equality constraint matrix\n"
57 ":param f: dynamics drift\n"
58 ":param q: state weight vector\n"
59 ":param r: input weight vector\n"
60 ":param g: state-input inequality constraint bias\n"
61 ":param h: state-input equality constraint bias"))
62
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .def(bp::init<std::size_t, std::size_t, bp::optional<bool>>(
63 bp::args("self", "nq", "nu", "driftFree"),
64 "Initialize the differential LQR action model.\n\n"
65 ":param nx: dimension of the state vector\n"
66 ":param nu: dimension of the control vector\n"
67 ":param driftFree: enable/disable the bias term of the linear "
68 "dynamics (default True)"))
69
1/2
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
 80 .def(
70 "calc",
71 static_cast<void (Model::*)(
72 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
73 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
74 bp::args("self", "data", "x", "u"),
75 "Compute the next state and cost value.\n\n"
76 "It describes the time-continuous evolution of the LQR system. "
77 "Additionally it computes the cost value associated to this "
78 "discrete state and control pair.\n"
79 ":param data: action data\n"
80 ":param x: time-continuous state vector\n"
81 ":param u: time-continuous control input")
82
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .def("calc",
83 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
84 const Eigen::Ref<const VectorXs>&)>(
85 &Model::calc),
86 bp::args("self", "data", "x"))
87
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .def(
88 "calcDiff",
89 static_cast<void (Model::*)(
90 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
91 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
92 bp::args("self", "data", "x", "u"),
93 "Compute the derivatives of the differential LQR dynamics and cost "
94 "functions.\n\n"
95 "It computes the partial derivatives of the differential LQR "
96 "system "
97 "and the\n"
98 "cost function. It assumes that calc has been run first.\n"
99 "This function builds a quadratic approximation of the\n"
100 "action model (i.e. dynamical system and cost function).\n"
101 ":param data: action data\n"
102 ":param x: time-continuous state vector\n"
103 ":param u: time-continuous control input\n")
104
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .def("calcDiff",
105 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
106 const Eigen::Ref<const VectorXs>&)>(
107 &Model::calcDiff),
108 bp::args("self", "data", "x"))
109
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .def("createData", &Model::createData, bp::args("self"),
110 "Create the differential LQR action data.")
111
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 .def("Random", &Model::Random,
112
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 80 DifferentialActionModelLQR_Random_wrap(
113 bp::args("nq", "nu", "ng", "nh"),
114 "Create a random LQR model.\n\n"
115 ":param: nq: position dimension\n"
116 ":param nu: control dimension\n"
117 ":param ng: inequality constraint dimension (default 0)\n"
118 ":param nh: equality constraint dimension (default 0)"))
119
1/2
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
 40 .staticmethod("Random")
120
1/2
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
 80 .def("setLQR", &Model::set_LQR,
121 bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"),
122 "Modify the LQR action model.\n\n"
123 ":param Aq: position matrix\n"
124 ":param Av: velocity matrix\n"
125 ":param B: input matrix\n"
126 ":param Q: state weight matrix\n"
127 ":param R: input weight matrix\n"
128 ":param N: state-input weight matrix\n"
129 ":param f: dynamics drift\n"
130 ":param q: state weight vector\n"
131 ":param r: input weight vector")
132
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 40 .add_property("Aq",
133 bp::make_function(&Model::get_Aq,
134 40 bp::return_internal_reference<>()),
135 "position matrix")
136
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property("Av",
137 bp::make_function(&Model::get_Av,
138 40 bp::return_internal_reference<>()),
139 "velocity matrix")
140
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
141 "B",
142 40 bp::make_function(&Model::get_B, bp::return_internal_reference<>()),
143 "input matrix")
144
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
145 "f",
146 40 bp::make_function(&Model::get_f, bp::return_internal_reference<>()),
147 "dynamics drift")
148
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
149 "Q",
150 40 bp::make_function(&Model::get_Q, bp::return_internal_reference<>()),
151 "state weight matrix")
152
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
153 "R",
154 40 bp::make_function(&Model::get_R, bp::return_internal_reference<>()),
155 "input weight matrix")
156
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
157 "N",
158 40 bp::make_function(&Model::get_N, bp::return_internal_reference<>()),
159 "state-input weight matrix")
160
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
161 "G",
162 40 bp::make_function(&Model::get_G, bp::return_internal_reference<>()),
163 "state-input inequality constraint matrix")
164
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
165 "H",
166 40 bp::make_function(&Model::get_H, bp::return_internal_reference<>()),
167 "state-input equality constraint matrix")
168
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
169 "q",
170 40 bp::make_function(&Model::get_q, bp::return_internal_reference<>()),
171 "state weight vector")
172
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
173 "r",
174 40 bp::make_function(&Model::get_r, bp::return_internal_reference<>()),
175 "input weight vector")
176
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
177 "g",
178 40 bp::make_function(&Model::get_g, bp::return_internal_reference<>()),
179 "state-input inequality constraint bias")
180
2/4
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
 40 .add_property(
181 "h",
182 40 bp::make_function(&Model::get_h, bp::return_internal_reference<>()),
183 "state-input equality constraint bias")
184 // deprecated function
185
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
186 "Fq",
187 bp::make_function(&Model::get_Aq,
188
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
189 "Deprecated. Use Aq.")),
190 bp::make_function(&Model::set_Fq,
191
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
192 "position matrix")
193
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
194 "Fv",
195 bp::make_function(&Model::get_Av,
196
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
197 "Deprecated. Use Av.")),
198 bp::make_function(&Model::set_Fv,
199
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
200 "position matrix")
201
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
202 "Fu",
203 bp::make_function(&Model::get_B,
204
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
205 "Deprecated. Use B.")),
206 bp::make_function(&Model::set_Fu,
207
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
208 "input matrix")
209
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
210 "f0",
211 bp::make_function(&Model::get_f,
212
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
213 "Deprecated. Use f.")),
214 bp::make_function(&Model::set_f0,
215
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
216 "dynamics drift")
217
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
218 "lx",
219 bp::make_function(&Model::get_q,
220
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
221 "Deprecated. Use q.")),
222 bp::make_function(&Model::set_lx,
223
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
224 "state weight vector")
225
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
226 "lu",
227 bp::make_function(&Model::get_r,
228
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
229 "Deprecated. Use r.")),
230 bp::make_function(&Model::set_lu,
231
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
232 "input weight vector")
233
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
234 "Lxx",
235 bp::make_function(&Model::get_Q,
236
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
237 "Deprecated. Use Q.")),
238 bp::make_function(&Model::set_Lxx,
239
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
240 "state weight matrix")
241
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
242 "Lxu",
243 bp::make_function(&Model::get_N,
244
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
245 "Deprecated. Use N.")),
246 bp::make_function(&Model::set_Lxu,
247
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
248 "state-input weight matrix")
249
3/6
✓ Branch 1 taken 20 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 20 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 20 times.
✗ Branch 8 not taken.
 80 .add_property(
250 "Luu",
251 bp::make_function(&Model::get_R,
252
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<bp::return_internal_reference<>>(
253 "Deprecated. Use R.")),
254 bp::make_function(&Model::set_Luu,
255
2/4
✓ Branch 2 taken 20 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 20 times.
✗ Branch 6 not taken.
 80 deprecated<>("Deprecated. Use set_LQR.")),
256 "input weight matrix");
257 40 }
258 };
259
260 #define CROCODDYL_DIFFACTION_MODEL_LQR_PYTHON_BINDINGS(Scalar) \
261 typedef DifferentialActionModelLQRTpl<Scalar> Model; \
262 typedef DifferentialActionModelAbstractTpl<Scalar> ModelBase; \
263 typedef typename ModelBase::MatrixXs MatrixXs; \
264 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
265 bp::class_<Model, bp::bases<ModelBase>>( \
266 "DifferentialActionModelLQR", \
267 "Differential action model for linear dynamics and quadratic cost.\n\n" \
268 "This class implements a linear dynamics, quadratic costs, and linear " \
269 "constraints (i.e. LQR action). Since the DAM is a second order " \
270 "system, and the integrated action models are implemented as being " \
271 "second order integrators. This class implements a second order linear " \
272 "system given by\n" \
273 " x = [q, v]\n" \
274 " dv = Fq q + Fv v + Fu u + f0\n" \
275 "where Fq, Fv, Fu and f are randomly chosen constant terms. On the " \
276 "other hand, the cost function is given by" \
277 " l(x,u) = 1/2 [x,u].T [Q N; N.T R] [x,u] + [q,r].T [x,u],\n" \
278 "and the linear equality and inequality constraints has the form:\n" \
279 " g(x,u) = G [x,u] + g<=0\n" \
280 " h(x,u) = H [x,u] + h.", \
281 bp::init<MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs, MatrixXs>( \
282 bp::args("self", "Aq", "Av", "B", "Q", "R", "N"), \
283 "Initialize the differential LQR action model.\n\n" \
284 ":param Aq: position matrix\n" \
285 ":param Av: velocity matrix\n" \
286 ":param B: input matrix\n" \
287 ":param Q: state weight matrix\n" \
288 ":param R: input weight matrix\n" \
289 ":param N: state-input weight matrix")) \
290 .def(DifferentialActionModelLQRVisitor<Model>()) \
291 .def(CastVisitor<Model>()) \
292 .def(PrintableVisitor<Model>()) \
293 .def(CopyableVisitor<Model>());
294
295 #define CROCODDYL_DIFFACTION_DATA_LQR_PYTHON_BINDINGS(Scalar) \
296 typedef DifferentialActionDataLQRTpl<Scalar> Data; \
297 typedef DifferentialActionDataAbstractTpl<Scalar> DataBase; \
298 typedef DifferentialActionModelLQRTpl<Scalar> Model; \
299 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
300 bp::class_<Data, bp::bases<DataBase>>( \
301 "DifferentialActionDataLQR", \
302 "Action data for the differential LQR system.", \
303 bp::init<Model*>(bp::args("self", "model"), \
304 "Create differential LQR data.\n\n" \
305 ":param model: differential LQR action model")) \
306 .def(CopyableVisitor<Data>());
307
308 10 void exposeDifferentialActionLQR() {
309 // TODO: Remove once the deprecated update call has been removed in a future
310 // release
311 #pragma GCC diagnostic push
312 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
313
314
17/34
✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 10 times.
✗ Branch 13 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 24 taken 10 times.
✗ Branch 25 not taken.
✓ Branch 27 taken 10 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 10 times.
✗ Branch 31 not taken.
✓ Branch 35 taken 10 times.
✗ Branch 36 not taken.
✓ Branch 38 taken 10 times.
✗ Branch 39 not taken.
✓ Branch 41 taken 10 times.
✗ Branch 42 not taken.
✓ Branch 44 taken 10 times.
✗ Branch 45 not taken.
✓ Branch 47 taken 10 times.
✗ Branch 48 not taken.
✓ Branch 50 taken 10 times.
✗ Branch 51 not taken.
✓ Branch 53 taken 10 times.
✗ Branch 54 not taken.
✓ Branch 56 taken 10 times.
✗ Branch 57 not taken.
 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_DIFFACTION_MODEL_LQR_PYTHON_BINDINGS)
315
11/22
✓ Branch 3 taken 10 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
✓ Branch 15 taken 10 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 10 times.
✗ Branch 19 not taken.
✓ Branch 21 taken 10 times.
✗ Branch 22 not taken.
✓ Branch 26 taken 10 times.
✗ Branch 27 not taken.
✓ Branch 29 taken 10 times.
✗ Branch 30 not taken.
✓ Branch 32 taken 10 times.
✗ Branch 33 not taken.
✓ Branch 35 taken 10 times.
✗ Branch 36 not taken.
✓ Branch 38 taken 10 times.
✗ Branch 39 not taken.
 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_DIFFACTION_DATA_LQR_PYTHON_BINDINGS)
316
317 #pragma GCC diagnostic pop
318 10 }
319
320 } // namespace python
321 } // namespace crocoddyl
322