GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/impulses/impulse-6d.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, 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-6d.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ImpulseModel6DVisitor
19 : public bp::def_visitor<ImpulseModel6DVisitor<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 6D impulse Jacobian and drift.\n\n"
24 "The rigid impulse model throught acceleration-base holonomic "
25 "constraint\n"
26 "of the impulse frame placement.\n"
27 ":param data: impulse data\n"
28 ":param x: state point (dim. state.nx)")
29
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 80 .def("calcDiff", &Model::calcDiff, bp::args("self", "data", "x"),
30 "Compute the derivatives of the 6D impulse holonomic "
31 "constraint.\n\n"
32 "The rigid impulse model throught acceleration-base holonomic "
33 "constraint\n"
34 "of the impulse frame placement.\n"
35 "It assumes that calc has been run first.\n"
36 ":param data: cost data\n"
37 ":param x: state point (dim. state.nx)")
38
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 80 .def("updateForce", &Model::updateForce,
39 bp::args("self", "data", "force"),
40 "Convert the force into a stack of spatial forces.\n\n"
41 ":param data: cost data\n"
42 ":param lambda: force vector (dimension 6)")
43
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 80 .def("createData", &Model::createData,
44 40 bp::with_custodian_and_ward_postcall<0, 2>(),
45 bp::args("self", "data"),
46 "Create the 6D impulse data.\n\n"
47 "Each impulse model has its own data that needs to be allocated. "
48 "This function\n"
49 "returns the allocated data for a predefined cost.\n"
50 ":param data: Pinocchio data\n"
51 ":return impulse data.");
52 40 }
53 };
54
55 template <typename Data>
56 struct ImpulseData6DVisitor
57 : public bp::def_visitor<ImpulseData6DVisitor<Data>> {
58 template <class PyClass>
59 40 void visit(PyClass& cl) const {
60
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 40 cl.add_property("dv0_local_dq",
61 bp::make_getter(&Data::dv0_local_dq,
62 40 bp::return_internal_reference<>()),
63 bp::make_setter(&Data::dv0_local_dq),
64 "Jacobian of the desired local contact velocity")
65
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 40 .add_property(
66 "fJf",
67 40 bp::make_getter(&Data::fJf, bp::return_internal_reference<>()),
68 "local Jacobian of the impulse frame")
69
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 40 .add_property("v_partial_dq",
70 bp::make_getter(&Data::v_partial_dq,
71 40 bp::return_internal_reference<>()),
72 "Jacobian of the spatial body velocity")
73
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 40 .add_property("v_partial_dv",
74 bp::make_getter(&Data::v_partial_dv,
75 40 bp::return_internal_reference<>()),
76 "Jacobian of the spatial body velocity");
77 40 }
78 };
79
80 #define CROCODDYL_IMPULSE_MODEL_6D_PYTHON_BINDINGS(Scalar) \
81 typedef ImpulseModel6DTpl<Scalar> Model; \
82 typedef ImpulseModelAbstractTpl<Scalar> ModelBase; \
83 typedef Model::StateMultibody State; \
84 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
85 bp::class_<Model, bp::bases<ModelBase>>( \
86 "ImpulseModel6D", \
87 "Rigid 6D impulse model.\n\n" \
88 "It defines a rigid 6D impulse models based on acceleration-based " \
89 "holonomic constraints. The calc and calcDiff functions compute the " \
90 "impulse Jacobian and drift (holonomic constraint) or the derivatives " \
91 "of the holonomic constraint, respectively.", \
92 bp::init<std::shared_ptr<State>, std::size_t, \
93 bp::optional<pinocchio::ReferenceFrame>>( \
94 bp::args("self", "state", "frame", "type"), \
95 "Initialize the impulse model.\n\n" \
96 ":param state: state of the multibody system\n" \
97 ":param type: type of impulse\n" \
98 ":param frame: reference frame id")) \
99 .def(ImpulseModel6DVisitor<Model>()) \
100 .def(CastVisitor<Model>()) \
101 .def(PrintableVisitor<Model>()) \
102 .def(CopyableVisitor<Model>());
103
104 #define CROCODDYL_IMPULSE_DATA_6D_PYTHON_BINDINGS(Scalar) \
105 typedef ImpulseData6DTpl<Scalar> Data; \
106 typedef ImpulseDataAbstractTpl<Scalar> DataBase; \
107 typedef ImpulseModel6DTpl<Scalar> Model; \
108 typedef pinocchio::DataTpl<Scalar> PinocchioData; \
109 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
110 bp::class_<Data, bp::bases<DataBase>>( \
111 "ImpulseData6D", "Data for 6D impulse.\n\n", \
112 bp::init<Model*, PinocchioData*>( \
113 bp::args("self", "model", "data"), \
114 "Create 6D impulse data.\n\n" \
115 ":param model: 6D impulse model\n" \
116 ":param data: Pinocchio data")[bp::with_custodian_and_ward< \
117 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
118 .def(ImpulseData6DVisitor<Data>()) \
119 .def(CopyableVisitor<Data>());
120
121 10 void exposeImpulse6D() {
122
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_IMPULSE_MODEL_6D_PYTHON_BINDINGS)
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_IMPULSE_DATA_6D_PYTHON_BINDINGS)
124 10 }
125
126 } // namespace python
127 } // namespace crocoddyl
128