GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/friction-cone.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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Branches: 48 96 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, University of Edinburgh, University of Oxford,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/friction-cone.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/deprecate.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 template <typename Model>
19 struct FrictionConeVisitor
20 : public bp::def_visitor<FrictionConeVisitor<Model>> {
21 typedef typename Model::Scalar Scalar;
22 typedef typename Model::Vector3s Vector3s;
23 template <class PyClass>
24 40 void visit(PyClass& cl) const {
25
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 40 cl.def(bp::init<>(bp::args("self"),
26 "Default initialization of the friction cone."))
27
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 80 .def("update", static_cast<void (Model::*)()>(&Model::update),
28 bp::args("self"),
29 "Update the linear inequality (matrix and bounds).\n\n"
30 "Run this function if you have changed one of the parameters.")
31
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 120 .def("update",
32 static_cast<void (Model::*)(const Vector3s&, const Scalar,
33 const bool, const Scalar,
34 const Scalar)>(&Model::update),
35
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 80 deprecated<>("Deprecated. Use update()."),
36 bp::args("self", "nsurf", "mu", "inner_appr", "min_nforce",
37 "max_nforce"),
38 "Update the linear inequality (matrix and bounds).\n\n"
39 ":param nsurf: surface normal vector (it defines the cone "
40 "orientation)\n"
41 ":param mu: friction coefficient\n"
42 ":param inner_appr: inner or outer approximation (default True)\n"
43 ":param min_nforce: minimum normal force (default 0.)\n"
44 ":param max_nforce: maximum normal force (default "
45 "sys.float_info.max)")
46
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 40 .add_property(
47 "A",
48 40 bp::make_function(&Model::get_A, bp::return_internal_reference<>()),
49 "inequality matrix")
50
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 40 .add_property("ub",
51 bp::make_function(&Model::get_ub,
52 40 bp::return_internal_reference<>()),
53 "inequality upper bound")
54
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 40 .add_property("lb",
55 bp::make_function(&Model::get_lb,
56 40 bp::return_internal_reference<>()),
57 "inequality lower bound")
58
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 40 .add_property(
59 "nf",
60 bp::make_function(&Model::get_nf,
61 40 bp::return_value_policy<bp::return_by_value>()),
62 "number of facets (run update() if you have changed the value)")
63
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 80 .add_property(
64 "R",
65 40 bp::make_function(&Model::get_R, bp::return_internal_reference<>()),
66 bp::make_function(&Model::set_R),
67 "rotation matrix that defines the cone orientation w.r.t. "
68 "the inertial frame (run update() if you "
69 "have changed the value)")
70
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 80 .add_property(
71 "mu", bp::make_function(&Model::get_mu),
72 bp::make_function(&Model::set_mu),
73 "friction coefficient (run update() if you have changed the value)")
74
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 80 .add_property("inner_appr", bp::make_function(&Model::get_inner_appr),
75 bp::make_function(&Model::set_inner_appr),
76 "type of cone approximation (run update() if you have "
77 "changed the value)")
78
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 80 .add_property(
79 "min_nforce", bp::make_function(&Model::get_min_nforce),
80 bp::make_function(&Model::set_min_nforce),
81 "minimum normal force (run update() if you have changed the value)")
82
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 40 .add_property("max_nforce", bp::make_function(&Model::get_max_nforce),
83 bp::make_function(&Model::set_max_nforce),
84 "maximum normal force (run update() if you have changed "
85 "the value)");
86 40 }
87 };
88
89 #define CROCODDYL_FRICTION_CONE_PYTHON_BINDINGS(Scalar) \
90 typedef FrictionConeTpl<Scalar> Model; \
91 typedef typename Model::Matrix3s Matrix3s; \
92 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
93 bp::class_<Model>( \
94 "FrictionCone", "Model of the friction cone as lb <= Af <= ub", \
95 bp::init<Matrix3s, Scalar, \
96 bp::optional<std::size_t, bool, Scalar, Scalar>>( \
97 bp::args("self", "R", "mu", "nf", "inner_appr", "min_nforce", \
98 "max_nforce"), \
99 "Initialize the linearize friction cone.\n\n" \
100 ":param R: rotation matrix that defines the cone orientation " \
101 "w.r.t. the inertial frame\n" \
102 ":param mu: friction coefficient\n" \
103 ":param nf: number of facets (default 4)\n" \
104 ":param inner_appr: inner or outer approximation (default True)\n" \
105 ":param min_nforce: minimum normal force (default 0.)\n" \
106 ":param max_nforce: maximum normal force (default " \
107 "sys.float_info.max)")) \
108 .def(FrictionConeVisitor<Model>()) \
109 .def(CastVisitor<Model>()) \
110 .def(PrintableVisitor<Model>()) \
111 .def(CopyableVisitor<Model>());
112
113 10 void exposeFrictionCone() {
114 #pragma GCC diagnostic push // TODO: Remove once the deprecated update call has
115 // been removed in a future release
116 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
117
118
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_FRICTION_CONE_PYTHON_BINDINGS)
119
120 #pragma GCC diagnostic pop
121 10 }
122
123 } // namespace python
124 } // namespace crocoddyl
125