GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/frame-translation.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 35 37 94.6%
Branches: 27 54 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, 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-translation.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 exposeResidualFrameTranslation() {
18 bp::register_ptr_to_python<
19 10 boost::shared_ptr<ResidualModelFrameTranslation> >();
20
21
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 10 bp::class_<ResidualModelFrameTranslation, bp::bases<ResidualModelAbstract> >(
22 "ResidualModelFrameTranslation",
23 "This residual function defines the the frame translation tracking as as "
24 "r = t - tref, with t and tref as the\n"
25 "current and reference frame translations, respectively.",
26
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 10 bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
27 Eigen::Vector3d, std::size_t>(
28 20 bp::args("self", "state", "id", "xref", "nu"),
29 "Initialize the frame translation residual model.\n\n"
30 ":param state: state of the multibody system\n"
31 ":param id: reference frame id\n"
32 ":param xref: reference frame translation\n"
33 ":param nu: dimension of control vector"))
34
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 10 .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
35 Eigen::Vector3d>(
36
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 20 bp::args("self", "state", "id", "xref"),
37 "Initialize the frame translation residual model.\n\n"
38 "The default nu is obtained from state.nv.\n"
39 ":param state: state of the multibody system\n"
40 ":param id: reference frame id\n"
41 ":param xref: reference frame translation"))
42 .def<void (ResidualModelFrameTranslation::*)(
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", &ResidualModelFrameTranslation::calc,
47
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 20 bp::args("self", "data", "x", "u"),
48 "Compute the frame translation 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 (ResidualModelFrameTranslation::*)(
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 (ResidualModelFrameTranslation::*)(
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", &ResidualModelFrameTranslation::calcDiff,
61
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 20 bp::args("self", "data", "x", "u"),
62 "Compute the derivatives of the frame translation 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 (ResidualModelFrameTranslation::*)(
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", &ResidualModelFrameTranslation::createData,
73 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
74
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 20 bp::args("self", "data"),
75 "Create the frame translation 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 translation residual.\n"
79 ":param data: shared data\n"
80 ":return residual data.")
81
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 10 .add_property("id", &ResidualModelFrameTranslation::get_id,
82 &ResidualModelFrameTranslation::set_id,
83 "reference frame id")
84
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 10 .add_property(
85 "reference",
86
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 10 bp::make_function(&ResidualModelFrameTranslation::get_reference,
87 10 bp::return_internal_reference<>()),
88 &ResidualModelFrameTranslation::set_reference,
89 "reference frame translation")
90
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 10 .def(CopyableVisitor<ResidualModelFrameTranslation>());
91
92 bp::register_ptr_to_python<
93 10 boost::shared_ptr<ResidualDataFrameTranslation> >();
94
95
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 10 bp::class_<ResidualDataFrameTranslation, bp::bases<ResidualDataAbstract> >(
96 "ResidualDataFrameTranslation",
97 "Data for frame translation residual.\n\n",
98
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 10 bp::init<ResidualModelFrameTranslation*, DataCollectorAbstract*>(
99 10 bp::args("self", "model", "data"),
100 "Create frame translation residual data.\n\n"
101 ":param model: frame translation residual model\n"
102 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
103
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
104
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 10 .add_property("pinocchio",
105
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 10 bp::make_getter(&ResidualDataFrameTranslation::pinocchio,
106 10 bp::return_internal_reference<>()),
107 "pinocchio data")
108
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 10 .add_property("fJf",
109
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 10 bp::make_getter(&ResidualDataFrameTranslation::fJf,
110 10 bp::return_internal_reference<>()),
111 "local Jacobian of the frame")
112
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 10 .def(CopyableVisitor<ResidualDataFrameTranslation>());
113 10 }
114
115 } // namespace python
116 } // namespace crocoddyl
117