GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/impulses/impulse-3d.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 23 23 100.0%
Branches: 51 102 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, 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/impulses/impulse-3d.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ImpulseModel3DVisitor
19 : public bp::def_visitor<ImpulseModel3DVisitor<Model>> {
20 template <class PyClass>
21 40 void visit(PyClass& cl) const {
22 40 cl.def("calc", &Model::calc, bp::args("self", "data", "x"),
23 "Compute the 3D impulse Jacobian and drift.\n\n"
24 "The rigid impulse model throught acceleration-base holonomic "
25 "constraint of the impulse frame placement.\n"
26 ":param data: impulse data\n"
27 ":param x: state point (dim. state.nx)")
28
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 80 .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"),
29 "Compute the derivatives of the 3D impulse holonomic "
30 "constraint.\n\n"
31 "The rigid impulse model throught acceleration-base holonomic "
32 "constraint of the impulse frame placement. It assumes that calc "
33 "has been run first.\n"
34 ":param data: cost data\n"
35 ":param x: state point (dim. state.nx)")
36
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 80 .def("updateForce", &Model::updateForce,
37 bp::args("self", "data", "force"),
38 "Convert the force into a stack of spatial forces.\n\n"
39 ":param data: cost data\n"
40 ":param force: force vector (dimension 3)")
41
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 80 .def("createData", &Model::createData,
42 40 bp::with_custodian_and_ward_postcall<0, 2>(),
43 bp::args("self", "data"),
44 "Create the 3D impulse data.\n\n"
45 "Each impulse model has its own data that needs to be allocated. "
46 "This function returns the allocated data for a predefined cost.\n"
47 ":param data: Pinocchio data\n"
48 ":return impulse data.");
49 40 }
50 };
51
52 template <typename Data>
53 struct ImpulseData3DVisitor
54 : public bp::def_visitor<ImpulseData3DVisitor<Data>> {
55 template <class PyClass>
56 40 void visit(PyClass& cl) const {
57
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 40 cl.add_property(
58 "f_local",
59 40 bp::make_getter(&Data::f_local, bp::return_internal_reference<>()),
60 bp::make_setter(&Data::f_local),
61 "spatial contact force in local coordinates")
62
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 80 .add_property("dv0_local_dq",
63 bp::make_getter(&Data::dv0_local_dq,
64 40 bp::return_internal_reference<>()),
65 bp::make_setter(&Data::dv0_local_dq),
66 "Jacobian of the desired local contact velocity")
67
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 40 .add_property(
68 "fJf",
69 40 bp::make_getter(&Data::fJf, bp::return_internal_reference<>()),
70 "local Jacobian of the impulse frame")
71
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 40 .add_property("v_partial_dq",
72 bp::make_getter(&Data::v_partial_dq,
73 40 bp::return_internal_reference<>()),
74 "Jacobian of the spatial body velocity")
75
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 40 .add_property("v_partial_dv",
76 bp::make_getter(&Data::v_partial_dv,
77 40 bp::return_internal_reference<>()),
78 "Jacobian of the spatial body velocity");
79 40 }
80 };
81
82 #define CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS(Scalar) \
83 typedef ImpulseModel3DTpl<Scalar> Model; \
84 typedef ImpulseModelAbstractTpl<Scalar> ModelBase; \
85 typedef Model::StateMultibody State; \
86 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
87 bp::class_<Model, bp::bases<ModelBase>>( \
88 "ImpulseModel3D", \
89 "Rigid 3D impulse model.\n\n" \
90 "It defines a rigid 3D impulse models (point impulse) based on " \
91 "acceleration-based holonomic constraints. The calc and calcDiff " \
92 "functions compute the impulse Jacobian and drift (holonomic " \
93 "constraint) or the derivatives of the holonomic constraint, " \
94 "respectively.", \
95 bp::init<std::shared_ptr<State>, std::size_t, \
96 bp::optional<pinocchio::ReferenceFrame>>( \
97 bp::args("self", "state", "frame", "type"), \
98 "Initialize the 3D impulse model.\n\n" \
99 ":param state: state of the multibody system\n" \
100 ":param type: type of impulse (default pinocchio.LOCAL)\n" \
101 ":param frame: reference frame id")) \
102 .def(ImpulseModel3DVisitor<Model>()) \
103 .def(CastVisitor<Model>()) \
104 .def(PrintableVisitor<Model>()) \
105 .def(CopyableVisitor<Model>());
106
107 #define CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS(Scalar) \
108 typedef ImpulseData3DTpl<Scalar> Data; \
109 typedef ImpulseDataAbstractTpl<Scalar> DataBase; \
110 typedef ImpulseModel3DTpl<Scalar> Model; \
111 typedef pinocchio::DataTpl<Scalar> PinocchioData; \
112 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
113 bp::class_<Data, bp::bases<DataBase>>( \
114 "ImpulseData3D", "Data for 3D impulse.\n\n", \
115 bp::init<Model*, PinocchioData*>( \
116 bp::args("self", "model", "data"), \
117 "Create 3D impulse data.\n\n" \
118 ":param model: 3D impulse model\n" \
119 ":param data: Pinocchio data")[bp::with_custodian_and_ward< \
120 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
121 .def(ImpulseData3DVisitor<Data>()) \
122 .def(CopyableVisitor<Data>());
123
124 10 void exposeImpulse3D() {
125
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_IMPULSE_MODEL_3D_PYTHON_BINDINGS)
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_IMPULSE_DATA_3D_PYTHON_BINDINGS)
127 10 }
128
129 } // namespace python
130 } // namespace crocoddyl
131