GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/actions/free-fwddyn.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 55 56 98.2%
Branches: 39 78 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, 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/multibody/actions/free-fwddyn.hpp"
11
12 #include "python/crocoddyl/core/diff-action-base.hpp"
13 #include "python/crocoddyl/multibody/multibody.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeDifferentialActionFreeFwdDynamics() {
20 bp::register_ptr_to_python<
21 10 boost::shared_ptr<DifferentialActionModelFreeFwdDynamics> >();
22
23
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 10 bp::class_<DifferentialActionModelFreeFwdDynamics,
24 bp::bases<DifferentialActionModelAbstract> >(
25 "DifferentialActionModelFreeFwdDynamics",
26 "Differential action model for free forward dynamics in multibody "
27 "systems.\n\n"
28 "This class implements a the dynamics using Articulate Body Algorithm "
29 "(ABA),\n"
30 "or a custom implementation in case of system with armatures. If you "
31 "want to\n"
32 "include the armature, you need to use set_armature(). On the other "
33 "hand, the\n"
34 "stack of cost functions are implemented in CostModelSum().",
35
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 10 bp::init<boost::shared_ptr<StateMultibody>,
36 boost::shared_ptr<ActuationModelAbstract>,
37 boost::shared_ptr<CostModelSum>,
38 bp::optional<boost::shared_ptr<ConstraintModelManager> > >(
39 20 bp::args("self", "state", "actuation", "costs", "constraints"),
40 "Initialize the free forward-dynamics action model.\n\n"
41 ":param state: multibody state\n"
42 ":param actuation: abstract actuation model\n"
43 ":param costs: stack of cost functions\n"
44 ":param constraints: stack of constraint functions"))
45 .def<void (DifferentialActionModelFreeFwdDynamics::*)(
46 const boost::shared_ptr<DifferentialActionDataAbstract>&,
47 const Eigen::Ref<const Eigen::VectorXd>&,
48 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
49 "calc", &DifferentialActionModelFreeFwdDynamics::calc,
50
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 20 bp::args("self", "data", "x", "u"),
51 "Compute the next state and cost value.\n\n"
52 "It describes the time-continuous evolution of the multibody system "
53 "without any contact.\n"
54 "Additionally it computes the cost value associated to this state "
55 "and control pair.\n"
56 ":param data: free forward-dynamics action data\n"
57 ":param x: time-continuous state vector\n"
58 ":param u: time-continuous control input")
59 .def<void (DifferentialActionModelFreeFwdDynamics::*)(
60 const boost::shared_ptr<DifferentialActionDataAbstract>&,
61
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
62 "calc", &DifferentialActionModelAbstract::calc,
63
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 20 bp::args("self", "data", "x"))
64 .def<void (DifferentialActionModelFreeFwdDynamics::*)(
65 const boost::shared_ptr<DifferentialActionDataAbstract>&,
66 const Eigen::Ref<const Eigen::VectorXd>&,
67
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
68 "calcDiff", &DifferentialActionModelFreeFwdDynamics::calcDiff,
69
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 20 bp::args("self", "data", "x", "u"),
70 "Compute the derivatives of the differential multibody system (free "
71 "of contact) and\n"
72 "its cost functions.\n\n"
73 "It computes the partial derivatives of the differential multibody "
74 "system and the\n"
75 "cost function. It assumes that calc has been run first.\n"
76 "This function builds a quadratic approximation of the\n"
77 "action model (i.e. dynamical system and cost function).\n"
78 ":param data: free forward-dynamics action data\n"
79 ":param x: time-continuous state vector\n"
80 ":param u: time-continuous control input\n")
81 .def<void (DifferentialActionModelFreeFwdDynamics::*)(
82 const boost::shared_ptr<DifferentialActionDataAbstract>&,
83
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
84 "calcDiff", &DifferentialActionModelAbstract::calcDiff,
85
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 20 bp::args("self", "data", "x"))
86
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 20 .def("createData", &DifferentialActionModelFreeFwdDynamics::createData,
87
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 20 bp::args("self"),
88 "Create the free forward dynamics differential action data.")
89
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 10 .add_property("pinocchio",
90
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 10 bp::make_function(
91 &DifferentialActionModelFreeFwdDynamics::get_pinocchio,
92 10 bp::return_internal_reference<>()),
93 "multibody model (i.e. pinocchio model)")
94
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 10 .add_property("actuation",
95
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 10 bp::make_function(
96 &DifferentialActionModelFreeFwdDynamics::get_actuation,
97 10 bp::return_value_policy<bp::return_by_value>()),
98 "actuation model")
99
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 10 .add_property(
100 "costs",
101
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 10 bp::make_function(&DifferentialActionModelFreeFwdDynamics::get_costs,
102 10 bp::return_value_policy<bp::return_by_value>()),
103 "total cost model")
104
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 10 .add_property(
105 "constraints",
106
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 10 bp::make_function(
107 &DifferentialActionModelFreeFwdDynamics::get_constraints,
108 10 bp::return_value_policy<bp::return_by_value>()),
109 "constraint model manager")
110
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 10 .add_property("armature",
111
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 10 bp::make_function(
112 &DifferentialActionModelFreeFwdDynamics::get_armature,
113 ✗ bp::return_internal_reference<>()),
114
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 20 bp::make_function(
115 &DifferentialActionModelFreeFwdDynamics::set_armature),
116 "set an armature mechanism in the joints")
117
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 10 .def(CopyableVisitor<DifferentialActionModelFreeFwdDynamics>());
118
119 bp::register_ptr_to_python<
120 10 boost::shared_ptr<DifferentialActionDataFreeFwdDynamics> >();
121
122
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 10 bp::class_<DifferentialActionDataFreeFwdDynamics,
123 bp::bases<DifferentialActionDataAbstract> >(
124 "DifferentialActionDataFreeFwdDynamics",
125 "Action data for the free forward dynamics system.",
126
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 10 bp::init<DifferentialActionModelFreeFwdDynamics*>(
127 20 bp::args("self", "model"),
128 "Create free forward-dynamics action data.\n\n"
129 ":param model: free forward-dynamics action model"))
130
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 10 .add_property(
131 "pinocchio",
132
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::pinocchio,
133 10 bp::return_internal_reference<>()),
134 "pinocchio data")
135
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 10 .add_property(
136 "multibody",
137
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::multibody,
138 10 bp::return_internal_reference<>()),
139 "multibody data")
140
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 10 .add_property(
141 "costs",
142
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::costs,
143 10 bp::return_value_policy<bp::return_by_value>()),
144 "total cost data")
145
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 10 .add_property(
146 "constraints",
147
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::constraints,
148 10 bp::return_value_policy<bp::return_by_value>()),
149 "constraint data")
150
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 10 .add_property(
151 "Minv",
152
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::Minv,
153 10 bp::return_internal_reference<>()),
154 "inverse of the joint-space inertia matrix")
155
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 10 .add_property(
156 "u_drift",
157
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 10 bp::make_getter(&DifferentialActionDataFreeFwdDynamics::u_drift,
158 10 bp::return_internal_reference<>()),
159 "force-bias vector that accounts for control, Coriolis and "
160 "gravitational effects")
161
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 10 .def(CopyableVisitor<DifferentialActionDataFreeFwdDynamics>());
162 10 }
163
164 } // namespace python
165 } // namespace crocoddyl
166