GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/frame-translation.cpp
Date: 2025-02-24 23:41:29
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 10 bp::register_ptr_to_python<std::shared_ptr<ResidualModelFrameTranslation> >();
19
20
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 10 bp::class_<ResidualModelFrameTranslation, bp::bases<ResidualModelAbstract> >(
21 "ResidualModelFrameTranslation",
22 "This residual function defines the the frame translation tracking as as "
23 "r = t - tref, with t and tref as the\n"
24 "current and reference frame translations, respectively.",
25
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 10 bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
26 Eigen::Vector3d, std::size_t>(
27 20 bp::args("self", "state", "id", "xref", "nu"),
28 "Initialize the frame translation residual model.\n\n"
29 ":param state: state of the multibody system\n"
30 ":param id: reference frame id\n"
31 ":param xref: reference frame translation\n"
32 ":param nu: dimension of control vector"))
33
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 10 .def(bp::init<std::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
34 Eigen::Vector3d>(
35
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 20 bp::args("self", "state", "id", "xref"),
36 "Initialize the frame translation residual model.\n\n"
37 "The default nu is obtained from state.nv.\n"
38 ":param state: state of the multibody system\n"
39 ":param id: reference frame id\n"
40 ":param xref: reference frame translation"))
41 .def<void (ResidualModelFrameTranslation::*)(
42 const std::shared_ptr<ResidualDataAbstract>&,
43 const Eigen::Ref<const Eigen::VectorXd>&,
44
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
45 "calc", &ResidualModelFrameTranslation::calc,
46
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 20 bp::args("self", "data", "x", "u"),
47 "Compute the frame translation residual.\n\n"
48 ":param data: residual data\n"
49 ":param x: state point (dim. state.nx)\n"
50 ":param u: control input (dim. nu)")
51 .def<void (ResidualModelFrameTranslation::*)(
52 const std::shared_ptr<ResidualDataAbstract>&,
53 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
54
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
55 .def<void (ResidualModelFrameTranslation::*)(
56 const std::shared_ptr<ResidualDataAbstract>&,
57 const Eigen::Ref<const Eigen::VectorXd>&,
58
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
59 "calcDiff", &ResidualModelFrameTranslation::calcDiff,
60
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 20 bp::args("self", "data", "x", "u"),
61 "Compute the derivatives of the frame translation residual.\n\n"
62 "It assumes that calc has been run first.\n"
63 ":param data: action data\n"
64 ":param x: state point (dim. state.nx)\n"
65 ":param u: control input (dim. nu)")
66 .def<void (ResidualModelFrameTranslation::*)(
67 const std::shared_ptr<ResidualDataAbstract>&,
68 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
69 "calcDiff", &ResidualModelAbstract::calcDiff,
70
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 20 bp::args("self", "data", "x"))
71
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 20 .def("createData", &ResidualModelFrameTranslation::createData,
72 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
73
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 20 bp::args("self", "data"),
74 "Create the frame translation residual data.\n\n"
75 "Each residual model has its own data that needs to be allocated. "
76 "This function\n"
77 "returns the allocated data for the frame translation residual.\n"
78 ":param data: shared data\n"
79 ":return residual data.")
80
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 10 .add_property("id", &ResidualModelFrameTranslation::get_id,
81 &ResidualModelFrameTranslation::set_id,
82 "reference frame id")
83
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 10 .add_property(
84 "reference",
85
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 10 bp::make_function(&ResidualModelFrameTranslation::get_reference,
86 10 bp::return_internal_reference<>()),
87 &ResidualModelFrameTranslation::set_reference,
88 "reference frame translation")
89
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 10 .def(CopyableVisitor<ResidualModelFrameTranslation>());
90
91 10 bp::register_ptr_to_python<std::shared_ptr<ResidualDataFrameTranslation> >();
92
93
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 10 bp::class_<ResidualDataFrameTranslation, bp::bases<ResidualDataAbstract> >(
94 "ResidualDataFrameTranslation",
95 "Data for frame translation residual.\n\n",
96
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 10 bp::init<ResidualModelFrameTranslation*, DataCollectorAbstract*>(
97 10 bp::args("self", "model", "data"),
98 "Create frame translation residual data.\n\n"
99 ":param model: frame translation residual model\n"
100 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
101
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
102
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 10 .add_property("pinocchio",
103
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 10 bp::make_getter(&ResidualDataFrameTranslation::pinocchio,
104 10 bp::return_internal_reference<>()),
105 "pinocchio data")
106
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 10 .add_property("fJf",
107
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 10 bp::make_getter(&ResidualDataFrameTranslation::fJf,
108 10 bp::return_internal_reference<>()),
109 "local Jacobian of the frame")
110
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 10 .def(CopyableVisitor<ResidualDataFrameTranslation>());
111 10 }
112
113 } // namespace python
114 } // namespace crocoddyl
115