GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/frame-translation-float.cpp
Date: 2025-04-18 16:41:15
Exec Total Coverage
Lines: 0 19 0.0%
Branches: 0 60 0.0%
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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 // Auto-generated file for float
10 #include "crocoddyl/multibody/residuals/frame-translation.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ResidualModelFrameTranslationVisitor
19 : public bp::def_visitor<ResidualModelFrameTranslationVisitor<Model>> {
20 typedef typename Model::ResidualDataAbstract Data;
21 typedef typename Model::Base ModelBase;
22 typedef typename Model::StateMultibody State;
23 typedef typename Model::Vector3s Vector3s;
24 typedef typename Model::VectorXs VectorXs;
25 template <class PyClass>
26 ✗ void visit(PyClass& cl) const {
27 ✗ cl.def(bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector3s>(
28 bp::args("self", "state", "id", "xref"),
29 "Initialize the frame translation residual model.\n\n"
30 "The default nu is obtained from state.nv.\n"
31 ":param state: state of the multibody system\n"
32 ":param id: reference frame id\n"
33 ":param xref: reference frame translation"))
34 ✗ .def(
35 "calc",
36 static_cast<void (Model::*)(
37 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
38 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
39 bp::args("self", "data", "x", "u"),
40 "Compute the frame translation residual.\n\n"
41 ":param data: residual data\n"
42 ":param x: state point (dim. state.nx)\n"
43 ":param u: control input (dim. nu)")
44 ✗ .def(
45 "calc",
46 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
47 const Eigen::Ref<const VectorXs>&)>(
48 &ModelBase::calc),
49 bp::args("self", "data", "x"))
50 ✗ .def(
51 "calcDiff",
52 static_cast<void (Model::*)(
53 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
54 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
55 bp::args("self", "data", "x", "u"),
56 "Compute the derivatives of the frame translation residual.\n\n"
57 "It assumes that calc has been run first.\n"
58 ":param data: action data\n"
59 ":param x: state point (dim. state.nx)\n"
60 ":param u: control input (dim. nu)")
61 ✗ .def(
62 "calcDiff",
63 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
64 const Eigen::Ref<const VectorXs>&)>(
65 &ModelBase::calcDiff),
66 bp::args("self", "data", "x"))
67 ✗ .def("createData", &Model::createData,
68 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
69 bp::args("self", "data"),
70 "Create the frame translation residual data.\n\n"
71 "Each residual model has its own data that needs to be allocated. "
72 "This function\n"
73 "returns the allocated data for the frame translation residual.\n"
74 ":param data: shared data\n"
75 ":return residual data.")
76 ✗ .add_property("id", &Model::get_id, &Model::set_id,
77 "reference frame id")
78 ✗ .add_property("reference",
79 bp::make_function(&Model::get_reference,
80 ✗ bp::return_internal_reference<>()),
81 &Model::set_reference, "reference frame translation");
82 }
83 };
84
85 template <typename Data>
86 struct ResidualDataFrameTranslationVisitor
87 : public bp::def_visitor<ResidualDataFrameTranslationVisitor<Data>> {
88 template <class PyClass>
89 ✗ void visit(PyClass& cl) const {
90 ✗ cl.add_property(
91 "pinocchio",
92 ✗ bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()),
93 "pinocchio data")
94 ✗ .add_property(
95 "fJf",
96 ✗ bp::make_getter(&Data::fJf, bp::return_internal_reference<>()),
97 "local Jacobian of the frame");
98 }
99 };
100
101 #define CROCODDYL_RESIDUAL_MODEL_FRAME_TRANSLATION_PYTHON_BINDINGS(Scalar) \
102 typedef ResidualModelFrameTranslationTpl<Scalar> Model; \
103 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
104 typedef typename Model::StateMultibody State; \
105 typedef typename Model::Vector3s Vector3s; \
106 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
107 bp::class_<Model, bp::bases<ModelBase>>( \
108 "ResidualModelFrameTranslation", \
109 "This residual function defines the the frame translation tracking as " \
110 "as r = t - tref, with t and tref as the current and reference frame " \
111 "translations, respectively.", \
112 bp::init<std::shared_ptr<State>, pinocchio::FrameIndex, Vector3s, \
113 std::size_t>( \
114 bp::args("self", "state", "id", "xref", "nu"), \
115 "Initialize the frame translation residual model.\n\n" \
116 ":param state: state of the multibody system\n" \
117 ":param id: reference frame id\n" \
118 ":param xref: reference frame translation\n" \
119 ":param nu: dimension of control vector")) \
120 .def(ResidualModelFrameTranslationVisitor<Model>()) \
121 .def(CastVisitor<Model>()) \
122 .def(PrintableVisitor<Model>()) \
123 .def(CopyableVisitor<Model>());
124
125 #define CROCODDYL_RESIDUAL_DATA_FRAME_TRANSLATION_PYTHON_BINDINGS(Scalar) \
126 typedef ResidualDataFrameTranslationTpl<Scalar> Data; \
127 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
128 typedef ResidualModelFrameTranslationTpl<Scalar> Model; \
129 typedef Model::DataCollectorAbstract DataCollector; \
130 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
131 bp::class_<Data, bp::bases<DataBase>>( \
132 "ResidualDataFrameTranslation", \
133 "Data for frame translation residual.\n\n", \
134 bp::init<Model*, DataCollector*>( \
135 bp::args("self", "model", "data"), \
136 "Create frame translation residual data.\n\n" \
137 ":param model: frame translation residual model\n" \
138 ":param data: shared data")[bp::with_custodian_and_ward< \
139 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
140 .def(ResidualDataFrameTranslationVisitor<Data>()) \
141 .def(CopyableVisitor<Data>());
142
143 ✗ void exposeResidualFrameTranslation() {
144 ✗ CROCODDYL_RESIDUAL_MODEL_FRAME_TRANSLATION_PYTHON_BINDINGS(float)
145 ✗ CROCODDYL_RESIDUAL_DATA_FRAME_TRANSLATION_PYTHON_BINDINGS(float)
146 }
147
148 } // namespace python
149 } // namespace crocoddyl
150