GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/impulse-com.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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Branches: 52 104 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/multibody/residuals/impulse-com.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12
13 namespace crocoddyl {
14 namespace python {
15
16 template <typename Model>
17 struct ResidualModelImpulseCoMVisitor
18 : public bp::def_visitor<ResidualModelImpulseCoMVisitor<Model>> {
19 typedef typename Model::ResidualDataAbstract Data;
20 typedef typename Model::Base ModelBase;
21 typedef typename Model::VectorXs VectorXs;
22 template <class PyClass>
23 40 void visit(PyClass& cl) const {
24 40 cl.def("calc",
25 static_cast<void (Model::*)(
26 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
27 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
28 bp::args("self", "data", "x", "u"),
29 "Compute the CoM position residual.\n\n"
30 ":param data: residual data\n"
31 ":param x: state point (dim. state.nx)")
32
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 80 .def(
33 "calc",
34 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
35 const Eigen::Ref<const VectorXs>&)>(
36 &ModelBase::calc),
37 bp::args("self", "data", "x"))
38
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 80 .def(
39 "calcDiff",
40 static_cast<void (Model::*)(
41 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
42 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
43 bp::args("self", "data", "x", "u"),
44 "Compute the derivatives of the CoM position residual for impulse "
45 "dynamics.\n\n"
46 "It assumes that calc has been run first.\n"
47 ":param data: action data\n"
48 ":param x: state point (dim. state.nx)")
49
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 80 .def(
50 "calcDiff",
51 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
52 const Eigen::Ref<const VectorXs>&)>(
53 &ModelBase::calcDiff),
54 bp::args("self", "data", "x"))
55
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 80 .def("createData", &Model::createData,
56 40 bp::with_custodian_and_ward_postcall<0, 2>(),
57 bp::args("self", "data"),
58 "Create the CoM position residual data.\n\n"
59 "Each residual model has its own data that needs to be allocated. "
60 "This function returns the allocated data for the impulse CoM "
61 "residual.\n"
62 ":param data: shared data\n"
63 ":return residual data.");
64 40 }
65 };
66
67 template <typename Data>
68 struct ResidualDataImpulseCoMVisitor
69 : public bp::def_visitor<ResidualDataImpulseCoMVisitor<Data>> {
70 template <class PyClass>
71 40 void visit(PyClass& cl) const {
72
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 40 cl.add_property(
73 "pinocchio",
74 40 bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()),
75 "pinocchio data")
76
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 80 .add_property(
77 "impulses",
78 bp::make_getter(&Data::impulses,
79 40 bp::return_value_policy<bp::return_by_value>()),
80 bp::make_setter(&Data::impulses),
81 "impulses data associated with the current residual")
82
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 40 .add_property(
83 "dvc_dq",
84 40 bp::make_getter(&Data::dvc_dq, bp::return_internal_reference<>()),
85 "Jacobian of the CoM velocity")
86
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 40 .add_property(
87 "ddv_dv",
88 40 bp::make_getter(&Data::ddv_dv, bp::return_internal_reference<>()),
89 "Jacobian of the impulse velocity")
90
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 40 .add_property("pinocchio_internal",
91 bp::make_getter(&Data::pinocchio_internal,
92 40 bp::return_internal_reference<>()),
93 "internal pinocchio data used for extra computations");
94 40 }
95 };
96
97 #define CROCODDYL_RESIDUAL_MODEL_IMPULSE_COM_PYTHON_BINDINGS(Scalar) \
98 typedef ResidualModelImpulseCoMTpl<Scalar> Model; \
99 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
100 typedef typename Model::StateMultibody State; \
101 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
102 bp::class_<Model, bp::bases<ModelBase>>( \
103 "ResidualModelImpulseCoM", \
104 "This residual function defines a residual vector as r = Jcom * " \
105 "(vnext-v), with Jcom as the CoM Jacobian, and vnext the velocity " \
106 "after impact and v the velocity before impact, respectively.", \
107 bp::init<std::shared_ptr<State>>( \
108 bp::args("self", "state"), \
109 "Initialize the CoM position cost model for impulse dynamics.\n\n" \
110 "The default nu is obtained from state.nv.\n" \
111 ":param state: state of the multibody system")) \
112 .def(ResidualModelImpulseCoMVisitor<Model>()) \
113 .def(CastVisitor<Model>()) \
114 .def(PrintableVisitor<Model>()) \
115 .def(CopyableVisitor<Model>());
116
117 #define CROCODDYL_RESIDUAL_DATA_IMPULSE_COM_PYTHON_BINDINGS(Scalar) \
118 typedef ResidualDataImpulseCoMTpl<Scalar> Data; \
119 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
120 typedef ResidualModelImpulseCoMTpl<Scalar> Model; \
121 typedef Model::DataCollectorAbstract DataCollector; \
122 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
123 bp::class_<Data, bp::bases<DataBase>>( \
124 "ResidualDataImpulseCoM", "Data for impulse CoM residual.\n\n", \
125 bp::init<Model*, DataCollector*>( \
126 bp::args("self", "model", "data"), \
127 "Create contact force residual data.\n\n" \
128 ":param model: impulse CoM residual model\n" \
129 ":param data: shared data")[bp::with_custodian_and_ward< \
130 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
131 .def(ResidualDataImpulseCoMVisitor<Data>()) \
132 .def(CopyableVisitor<Data>());
133
134 10 void exposeResidualImpulseCoM() {
135
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_MODEL_IMPULSE_COM_PYTHON_BINDINGS)
136
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_DATA_IMPULSE_COM_PYTHON_BINDINGS)
137 10 }
138
139 } // namespace python
140 } // namespace crocoddyl
141