GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/impulse-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 50 55 90.9%
Branches: 49 98 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 "python/crocoddyl/multibody/impulse-base.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14 #include "python/crocoddyl/utils/deprecate.hpp"
15 #include "python/crocoddyl/utils/printable.hpp"
16
17 namespace crocoddyl {
18 namespace python {
19
20 10 void exposeImpulseAbstract() {
21 10 bp::register_ptr_to_python<boost::shared_ptr<ImpulseModelAbstract> >();
22
23
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 10 bp::class_<ImpulseModelAbstract_wrap, boost::noncopyable>(
24 "ImpulseModelAbstract",
25 "Abstract impulse model.\n\n"
26 "It defines a template for impulse models.\n"
27 "The calc and calcDiff functions compute the impulse Jacobian\n"
28 "the derivatives respectively.",
29
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 10 bp::init<boost::shared_ptr<StateMultibody>, pinocchio::ReferenceFrame,
30 20 std::size_t>(bp::args("self", "state", "type", "nc"),
31 "Initialize the impulse model.\n\n"
32 ":param state: state of the multibody system\n"
33 ":param type: type of impulse\n"
34 ":param nc: dimension of impulse model"))
35
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 10 .def(bp::init<boost::shared_ptr<StateMultibody>, std::size_t>(
36
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 20 bp::args("self", "state", "nc"),
37 "Initialize the impulse model.\n\n"
38 ":param state: state of the multibody system\n"
39 ":param nc: dimension of impulse model"))
40
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 10 .def("calc", pure_virtual(&ImpulseModelAbstract_wrap::calc),
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 20 bp::args("self", "data", "x"),
42 "Compute the impulse Jacobian\n"
43 ":param data: impulse data\n"
44 ":param x: state point (dim. state.nx)")
45
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 10 .def("calcDiff", pure_virtual(&ImpulseModelAbstract_wrap::calcDiff),
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 20 bp::args("self", "data", "x"),
47 "Compute the derivatives of impulse Jacobian\n"
48 "It assumes that calc has been run first.\n"
49 ":param data: impulse data\n"
50 ":param x: state point (dim. state.nx)")
51
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 10 .def("updateForce", pure_virtual(&ImpulseModelAbstract_wrap::updateForce),
52
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 20 bp::args("self", "data", "force"),
53 "Convert the force into a stack of spatial forces.\n\n"
54 ":param data: impulse data\n"
55 ":param force: force vector (dimension nc)")
56
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 10 .def("updateForceDiff", &ImpulseModelAbstract_wrap::updateForceDiff,
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 20 bp::args("self", "data", "df_dx"),
58 "Update the Jacobian of the impulse force.\n\n"
59 ":param data: impulse data\n"
60 ":param df_dx: Jacobian of the impulse force (dimension nc*ndx)")
61
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 10 .def("setZeroForce", &ImpulseModelAbstract_wrap::setZeroForce,
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 20 bp::args("self", "data"),
63 "Set zero the spatial force.\n\n"
64 ":param data: contact data")
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 10 .def("setZeroForceDiff", &ImpulseModelAbstract_wrap::setZeroForceDiff,
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 20 bp::args("self", "data"),
67 "Set zero the derivatives of the spatial force.\n\n"
68 ":param data: contact data")
69
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 10 .def("createData", &ImpulseModelAbstract_wrap::createData,
70 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
71
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 20 bp::args("self", "data"),
72 "Create the impulse data.\n\n"
73 "Each impulse model has its own data that needs to be allocated. "
74 "This function\n"
75 "returns the allocated data for a predefined impulse.\n"
76 ":param data: Pinocchio data\n"
77 ":return impulse data.")
78
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 10 .def("createData", &ImpulseModelAbstract_wrap::default_createData,
79 ✗ bp::with_custodian_and_ward_postcall<0, 2>())
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 10 .add_property(
81 "state",
82
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 10 bp::make_function(&ImpulseModelAbstract_wrap::get_state,
83 10 bp::return_value_policy<bp::return_by_value>()),
84 "state of the multibody system")
85
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 10 .add_property("ni",
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 10 bp::make_function(&ImpulseModelAbstract_wrap::get_nc,
87
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 20 deprecated<>("Deprecated. Use nc")),
88 "dimension of impulse")
89
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 20 .add_property("nc", bp::make_function(&ImpulseModelAbstract_wrap::get_nc),
90 "dimension of impulse")
91
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 10 .add_property("id", &ImpulseModelAbstract_wrap::get_id,
92 &ImpulseModelAbstract_wrap::set_id, "reference frame id")
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 10 .add_property("type",
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 20 bp::make_function(&ImpulseModelAbstract_wrap::get_type),
95 &ImpulseModelAbstract_wrap::set_type, "type of impulse")
96
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 10 .def(CopyableVisitor<ImpulseModelAbstract_wrap>())
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 10 .def(PrintableVisitor<ImpulseModelAbstract>());
98
99 10 bp::register_ptr_to_python<boost::shared_ptr<ImpulseDataAbstract> >();
100
101
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 10 bp::class_<ImpulseDataAbstract, bp::bases<ForceDataAbstract> >(
102 "ImpulseDataAbstract", "Abstract class for impulse data.\n\n",
103
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 10 bp::init<ImpulseModelAbstract*, pinocchio::Data*>(
104 10 bp::args("self", "model", "data"),
105 "Create common data shared between impulse models.\n\n"
106 ":param model: impulse model\n"
107
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 20 ":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 3>()])
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 10 .add_property("fXj",
109
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 10 bp::make_getter(&ImpulseDataAbstract::fXj,
110 ✗ bp::return_internal_reference<>()),
111
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 20 bp::make_setter(&ImpulseDataAbstract::fXj),
112 "action matrix from contact to local frames")
113
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 10 .add_property("dv0_dq",
114
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 10 bp::make_getter(&ImpulseDataAbstract::dv0_dq,
115 ✗ bp::return_internal_reference<>()),
116
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 20 bp::make_setter(&ImpulseDataAbstract::dv0_dq),
117 "Jacobian of the previous impulse velocity")
118
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 10 .add_property("dtau_dq",
119
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 10 bp::make_getter(&ImpulseDataAbstract::dtau_dq,
120 ✗ bp::return_internal_reference<>()),
121
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 20 bp::make_setter(&ImpulseDataAbstract::dtau_dq),
122 "force contribution to dtau_dq")
123
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 10 .def(CopyableVisitor<ImpulseDataAbstract>());
124 10 }
125
126 } // namespace python
127 } // namespace crocoddyl
128