GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/integ-action-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 34 34 100.0%
Branches: 27 54 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, LAAS-CNRS, University of Edinburgh,
5 // University of Oxford, University of Trento,
6 // Heriot-Watt University
7 // Copyright note valid unless otherwise stated in individual files.
8 // All rights reserved.
9 ///////////////////////////////////////////////////////////////////////////////
10
11 #include "python/crocoddyl/core/integ-action-base.hpp"
12
13 #include "python/crocoddyl/utils/copyable.hpp"
14 #include "python/crocoddyl/utils/printable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeIntegratedActionAbstract() {
20 bp::register_ptr_to_python<
21 10 boost::shared_ptr<IntegratedActionModelAbstract> >();
22
23
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 10 bp::class_<IntegratedActionModelAbstract_wrap, boost::noncopyable,
24 bp::bases<ActionModelAbstract> >(
25 "IntegratedActionModelAbstract",
26 "Abstract class for integrated action models.\n\n"
27 "In Crocoddyl, an integrated action model transforms a differential "
28 "action model in a (discrete) action "
29 "model.\n",
30
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 10 bp::init<boost::shared_ptr<DifferentialActionModelAbstract>,
31 bp::optional<double, bool> >(
32 20 bp::args("self", "diffModel", "timeStep", "withCostResidual"),
33 "Initialize the integrated-action model.\n\n"
34 "You can also integrate autonomous systems (i.e., when diffModel.nu "
35 "is equals to 0).\n"
36 ":param diffModel: differential action model\n"
37 ":param timestep: integration time step (default 1e-3)\n"
38 ":param withCostResidual: includes the cost residuals and "
39 "derivatives (default True)."))
40
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 10 .def(bp::init<boost::shared_ptr<DifferentialActionModelAbstract>,
41 boost::shared_ptr<ControlParametrizationModelAbstract>,
42 bp::optional<double, bool> >(
43
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 20 bp::args("self", "diffModel", "control", "stepTime",
44 "withCostResidual"),
45 "Initialize the integrated-action integrator.\n\n"
46 "You can also integrate autonomous systems (i.e., when diffModel.nu "
47 "is equals to 0).\n"
48 ":param model: differential action model\n"
49 ":param control: the control parametrization\n"
50 ":param stepTime: step time (default 1e-3)\n"
51 ":param withCostResidual: includes the cost residuals and "
52 "derivatives (default True)."))
53
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 10 .def("calc", pure_virtual(&IntegratedActionModelAbstract_wrap::calc),
54
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 20 bp::args("self", "data", "x", "u"),
55 "Compute the next state and cost value.\n\n"
56 "It describes the time-discrete evolution of our dynamical system\n"
57 "in which we obtain the next state. Additionally it computes the\n"
58 "cost value associated to this discrete state and control pair.\n"
59 ":param data: integrated-action data\n"
60 ":param x: state point (dim. state.nx)\n"
61 ":param u: control input (dim. nu)")
62 .def<void (IntegratedActionModelAbstract::*)(
63 const boost::shared_ptr<ActionDataAbstract>&,
64 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
65 "calc", &IntegratedActionModelAbstract::calc,
66
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 20 bp::args("self", "data", "x"))
67
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 20 .def("calcDiff",
68 pure_virtual(&IntegratedActionModelAbstract_wrap::calcDiff),
69
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 20 bp::args("self", "data", "x", "u"),
70 "Compute the derivatives of the dynamics and cost functions.\n\n"
71 "It computes the partial derivatives of the dynamical system and "
72 "the\n"
73 "cost function. It assumes that calc has been run first.\n"
74 "This function builds a quadratic approximation of the\n"
75 "action model (i.e. linear dynamics and quadratic cost).\n"
76 ":param data: integrated-action data\n"
77 ":param x: state point (dim. state.nx)\n"
78 ":param u: control input (dim. nu)")
79 .def<void (IntegratedActionModelAbstract::*)(
80 const boost::shared_ptr<ActionDataAbstract>&,
81 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
82 "calcDiff", &IntegratedActionModelAbstract::calcDiff,
83
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 20 bp::args("self", "data", "x"))
84
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 10 .def("createData", &IntegratedActionModelAbstract_wrap::createData,
85
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 10 &IntegratedActionModelAbstract_wrap::default_createData,
86
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 20 bp::args("self"),
87 "Create the integrated-action data.\n\n"
88 "Each integrated-action model (IAM) has its own data that needs to "
89 "be allocated.\n"
90 "This function returns the allocated data for a predefined IAM.\n"
91 ":return integrated-action data.")
92
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 10 .add_property("differential",
93
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 10 bp::make_function(
94 &IntegratedActionModelAbstract_wrap::get_differential,
95 10 bp::return_value_policy<bp::return_by_value>()),
96 "differential action model")
97
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 10 .add_property(
98 "control",
99
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 10 bp::make_function(&IntegratedActionModelAbstract_wrap::get_control,
100 10 bp::return_value_policy<bp::return_by_value>()),
101 "control parametrization model")
102
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 10 .add_property(
103 "dt",
104
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 10 bp::make_function(&IntegratedActionModelAbstract::get_dt,
105 10 bp::return_value_policy<bp::return_by_value>()),
106 &IntegratedActionModelAbstract::set_dt, "step time")
107
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 10 .def(PrintableVisitor<IntegratedActionModelAbstract>());
108
109 bp::register_ptr_to_python<
110 10 boost::shared_ptr<IntegratedActionDataAbstract> >();
111
112
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 10 bp::class_<IntegratedActionDataAbstract, bp::bases<ActionDataAbstract> >(
113 "IntegratedActionDataAbstract",
114 "Abstract class for integrated-action data.\n\n"
115 "In Crocoddyl, an action data contains all the required information for "
116 "processing an\n"
117 "user-defined action model. The action data typically is allocated onces "
118 "by running\n"
119 "model.createData() and contains the first- and second- order "
120 "derivatives of the dynamics\n"
121 "and cost function, respectively.",
122
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 10 bp::init<IntegratedActionModelAbstract*>(
123 20 bp::args("self", "model"),
124 "Create common data shared between integrated-action models.\n\n"
125 "The integrated-action data uses its model in order to first process "
126 "it.\n"
127 ":param model: integrated-action model"))
128
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 10 .def(CopyableVisitor<IntegratedActionDataAbstract>());
129 10 }
130
131 } // namespace python
132 } // namespace crocoddyl
133