GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/actuations/full.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 16 16 100.0%
Branches: 13 26 50.0%
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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/actuations/full.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeActuationFull() {
19 bp::register_ptr_to_python<
20 10 boost::shared_ptr<crocoddyl::ActuationModelFull> >();
21
22
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 10 bp::class_<ActuationModelFull, bp::bases<ActuationModelAbstract> >(
23 "ActuationModelFull", "Full actuation models.",
24
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 10 bp::init<boost::shared_ptr<StateAbstract> >(
25 20 bp::args("self", "state"),
26 "Initialize the full actuation model.\n\n"
27 ":param state: state of dynamical system"))
28
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 10 .def("calc", &ActuationModelFull::calc,
29
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 20 bp::args("self", "data", "x", "u"),
30 "Compute the actuation signal and actuation set from the joint "
31 "torque input u.\n\n"
32 ":param data: full actuation data\n"
33 ":param x: state point (dim. state.nx)\n"
34 ":param u: joint torque input (dim. nu)")
35
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 10 .def("calcDiff", &ActuationModelFull::calcDiff,
36
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 20 bp::args("self", "data", "x", "u"),
37 "Compute the derivatives of the actuation model.\n\n"
38 "It computes the partial derivatives of the full actuation. It "
39 "assumes that calc\n"
40 "has been run first. The reason is that the derivatives are "
41 "constant and\n"
42 "defined in createData. The Hessian is constant, so we don't write "
43 "again this value.\n"
44 ":param data: full actuation data\n"
45 ":param x: state point (dim. state.nx)\n"
46 ":param u: joint torque input (dim. nu)")
47
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 10 .def("commands", &ActuationModelFull::commands,
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 20 bp::args("self", "data", "x", "tau"),
49 "Compute the joint torque commands from the generalized torques.\n\n"
50 "It stores the results in data.u.\n"
51 ":param data: actuation data\n"
52 ":param x: state point (dim. state.nx)\n"
53 ":param tau: generalized torques (dim state.nv)")
54
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 10 .def("torqueTransform", &ActuationModelFull::torqueTransform,
55
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 20 bp::args("self", "data", "x", "tau"),
56 "Compute the torque transform from generalized torques to joint "
57 "torque inputs.\n\n"
58 "It stores the results in data.Mtau.\n"
59 ":param data: actuation data\n"
60 ":param x: state point (dim. state.nx)\n"
61 ":param tau: generalized torques (dim state.nv)")
62
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 20 .def("createData", &ActuationModelFull::createData, bp::args("self"),
63 "Create the full actuation data.\n\n"
64 "Each actuation model (AM) has its own data that needs to be "
65 "allocated.\n"
66 "This function returns the allocated data for a predefined AM.\n"
67 ":return AM data.")
68
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 10 .def(CopyableVisitor<ActuationModelFull>());
69 10 }
70
71 } // namespace python
72 } // namespace crocoddyl
73