GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 41 43 95.3%
Branches: 31 62 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/multibody/residuals/frame-placement.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeResidualFramePlacement() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualModelFramePlacement> >();
19
20
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 10 bp::class_<ResidualModelFramePlacement, bp::bases<ResidualModelAbstract> >(
21 "ResidualModelFramePlacement",
22 "This residual function defines the tracking of theframe placement "
23 "residual as r = p - pref, with p and pref "
24 "as\n"
25 "the current and reference frame placements, respectively.",
26
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 10 bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
27 pinocchio::SE3, std::size_t>(
28 20 bp::args("self", "state", "id", "pref", "nu"),
29 "Initialize the frame placement residual model.\n\n"
30 ":param state: state of the multibody system\n"
31 ":param id: reference frame id\n"
32 ":param pref: reference frame placement\n"
33 ":param nu: dimension of control vector"))
34
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 10 .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
35 pinocchio::SE3>(
36
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 20 bp::args("self", "state", "id", "pref"),
37 "Initialize the frame placement residual model.\n\n"
38 "The default nu value is obtained from state.nv.\n"
39 ":param state: state of the multibody system\n"
40 ":param id: reference frame id\n"
41 ":param pref: reference frame placement"))
42 .def<void (ResidualModelFramePlacement::*)(
43 const boost::shared_ptr<ResidualDataAbstract>&,
44 const Eigen::Ref<const Eigen::VectorXd>&,
45
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
46 "calc", &ResidualModelFramePlacement::calc,
47
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 20 bp::args("self", "data", "x", "u"),
48 "Compute the frame placement residual.\n\n"
49 ":param data: residual data\n"
50 ":param x: state point (dim. state.nx)\n"
51 ":param u: control input (dim. nu)")
52 .def<void (ResidualModelFramePlacement::*)(
53 const boost::shared_ptr<ResidualDataAbstract>&,
54 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
55
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
56 .def<void (ResidualModelFramePlacement::*)(
57 const boost::shared_ptr<ResidualDataAbstract>&,
58 const Eigen::Ref<const Eigen::VectorXd>&,
59
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
60 "calcDiff", &ResidualModelFramePlacement::calcDiff,
61
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 20 bp::args("self", "data", "x", "u"),
62 "Compute the Jacobians of the frame placement residual.\n\n"
63 "It assumes that calc has been run first.\n"
64 ":param data: action data\n"
65 ":param x: state point (dim. state.nx)\n"
66 ":param u: control input (dim. nu)")
67 .def<void (ResidualModelFramePlacement::*)(
68 const boost::shared_ptr<ResidualDataAbstract>&,
69 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
70 "calcDiff", &ResidualModelAbstract::calcDiff,
71
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 20 bp::args("self", "data", "x"))
72
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 20 .def("createData", &ResidualModelFramePlacement::createData,
73 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
74
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 20 bp::args("self", "data"),
75 "Create the frame placement residual data.\n\n"
76 "Each residual model has its own data that needs to be allocated. "
77 "This function\n"
78 "returns the allocated data for the frame placement residual.\n"
79 ":param data: shared data\n"
80 ":return residual data.")
81
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 10 .add_property("id", &ResidualModelFramePlacement::get_id,
82 &ResidualModelFramePlacement::set_id, "reference frame id")
83
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 10 .add_property("reference",
84
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 10 bp::make_function(
85 &ResidualModelFramePlacement::get_reference,
86 10 bp::return_value_policy<bp::copy_const_reference>()),
87 &ResidualModelFramePlacement::set_reference,
88 "reference frame placement")
89
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 10 .def(CopyableVisitor<ResidualModelFramePlacement>());
90
91 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualDataFramePlacement> >();
92
93
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 10 bp::class_<ResidualDataFramePlacement, bp::bases<ResidualDataAbstract> >(
94 "ResidualDataFramePlacement", "Data for frame placement residual.\n\n",
95
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 10 bp::init<ResidualModelFramePlacement*, DataCollectorAbstract*>(
96 10 bp::args("self", "model", "data"),
97 "Create frame placement residual data.\n\n"
98 ":param model: frame placement residual model\n"
99 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
100
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("pinocchio",
102
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 10 bp::make_getter(&ResidualDataFramePlacement::pinocchio,
103 10 bp::return_internal_reference<>()),
104 "pinocchio data")
105
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 10 .add_property(
106 "rMf",
107
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 10 bp::make_getter(&ResidualDataFramePlacement::rMf,
108 10 bp::return_value_policy<bp::return_by_value>()),
109 "error frame placement of the frame")
110
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 10 .add_property("rJf",
111
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 10 bp::make_getter(&ResidualDataFramePlacement::rJf,
112 10 bp::return_internal_reference<>()),
113 "error Jacobian of the frame")
114
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 10 .add_property("fJf",
115
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 10 bp::make_getter(&ResidualDataFramePlacement::fJf,
116 10 bp::return_internal_reference<>()),
117 "local Jacobian of the frame")
118
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 10 .def(CopyableVisitor<ResidualDataFramePlacement>());
119 10 }
120
121 } // namespace python
122 } // namespace crocoddyl
123