GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/states/euclidean.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 18 18 100.0%
Branches: 19 38 50.0%
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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 #include "crocoddyl/core/states/euclidean.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/core/state-base.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeStateEuclidean() {
20 10 bp::register_ptr_to_python<boost::shared_ptr<StateVector> >();
21
22
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 10 bp::class_<StateVector, bp::bases<StateAbstract> >(
23 "StateVector",
24 "Euclidean state vector.\n\n"
25 "For this type of states, the difference and integrate operators are "
26 "described by\n"
27 "arithmetic subtraction and addition operations, respectively. Due to "
28 "the Euclidean\n"
29 "point and its velocity lie in the same space, all Jacobians are "
30 "described throught\n"
31 "the identity matrix.",
32
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 20 bp::init<std::size_t>(bp::args("self", "nx"),
33 "Initialize the vector dimension.\n\n"
34 ":param nx: dimension of state"))
35
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 20 .def("zero", &StateVector::zero, bp::args("self"),
36 "Return a zero reference state.\n\n"
37 ":return zero reference state")
38
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 20 .def("rand", &StateVector::rand, bp::args("self"),
39 "Return a random reference state.\n\n"
40 ":return random reference state")
41
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 20 .def("diff", &StateVector::diff_dx, bp::args("self", "x0", "x1"),
42 "Operator that differentiates the two state points.\n\n"
43 "It returns the value of x1 [-] x0 operation. Due to a state vector "
44 "lies in\n"
45 "the Euclidean space, this operator is defined with arithmetic "
46 "subtraction.\n"
47 ":param x0: current state (dim state.nx()).\n"
48 ":param x1: next state (dim state.nx()).\n"
49 ":return x1 - x0 value (dim state.nx()).")
50
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 20 .def("integrate", &StateVector::integrate_x, bp::args("self", "x", "dx"),
51 "Operator that integrates the current state.\n\n"
52 "It returns the value of x [+] dx operation. Due to a state vector "
53 "lies in\n"
54 "the Euclidean space, this operator is defined with arithmetic "
55 "addition.\n"
56 "Futhermore there is no timestep here (i.e. dx = v*dt), note this "
57 "if you're\n"
58 "integrating a velocity v during an interval dt.\n"
59 ":param x: current state (dim state.nx()).\n"
60 ":param dx: displacement of the state (dim state.nx()).\n"
61 ":return x + dx value (dim state.nx()).")
62
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 10 .def(
63 "Jdiff", &StateVector::Jdiff_Js,
64
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 10 Jdiffs(
65
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 20 bp::args("self", "x0", "x1", "firstsecond"),
66 "Compute the partial derivatives of arithmetic substraction.\n\n"
67 "Both Jacobian matrices are represented throught an identity "
68 "matrix, with the exception\n"
69 "that the first partial derivatives (w.r.t. x0) has negative "
70 "signed. By default, this\n"
71 "function returns the derivatives of the first and second "
72 "argument (i.e.\n"
73 "firstsecond='both'). However we ask for a specific partial "
74 "derivative by setting\n"
75 "firstsecond='first' or firstsecond='second'.\n"
76 ":param x0: current state (dim state.nx()).\n"
77 ":param x1: next state (dim state.nx()).\n"
78 ":param firstsecond: derivative w.r.t x0 or x1 or both\n"
79 ":return the partial derivative(s) of the diff(x0, x1) function"))
80
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 10 .def("Jintegrate", &StateVector::Jintegrate_Js,
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 10 Jintegrates(
82
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 20 bp::args("self", "x", "dx", "firstsecond"),
83 "Compute the partial derivatives of arithmetic addition.\n\n"
84 "Both Jacobian matrices are represented throught an identity "
85 "matrix. By default, this\n"
86 "function returns the derivatives of the first and second "
87 "argument (i.e.\n"
88 "firstsecond='both'). However we ask for a specific partial "
89 "derivative by setting\n"
90 "firstsecond='first' or firstsecond='second'.\n"
91 ":param x: current state (dim state.nx()).\n"
92 ":param dx: displacement of the state (dim state.nx()).\n"
93 ":param firstsecond: derivative w.r.t x or dx or both\n"
94 ":return the partial derivative(s) of the integrate(x, dx) "
95 "function"))
96
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 10 .def("JintegrateTransport", &StateVector::JintegrateTransport,
97
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 20 bp::args("self", "x", "dx", "Jin", "firstsecond"),
98 "Parallel transport from integrate(x, dx) to x.\n\n"
99 "This function performs the parallel transportation of an input "
100 "matrix whose columns\n"
101 "are expressed in the tangent space at integrate(x, dx) to the "
102 "tangent space at x point\n"
103 ":param x: state point (dim. state.nx).\n"
104 ":param dx: velocity vector (dim state.ndx).\n"
105 ":param Jin: input matrix (number of rows = state.nv).\n"
106 ":param firstsecond: derivative w.r.t x or dx")
107
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 10 .def(CopyableVisitor<StateVector>());
108 10 }
109
110 } // namespace python
111 } // namespace crocoddyl
112