GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/integ-action-base.cpp
Date: 2025-02-24 23:41:29
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 10 bp::register_ptr_to_python<std::shared_ptr<IntegratedActionModelAbstract> >();
21
22
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 10 bp::class_<IntegratedActionModelAbstract_wrap, boost::noncopyable,
23 bp::bases<ActionModelAbstract> >(
24 "IntegratedActionModelAbstract",
25 "Abstract class for integrated action models.\n\n"
26 "In Crocoddyl, an integrated action model transforms a differential "
27 "action model in a (discrete) action "
28 "model.\n",
29
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 10 bp::init<std::shared_ptr<DifferentialActionModelAbstract>,
30 bp::optional<double, bool> >(
31 20 bp::args("self", "diffModel", "timeStep", "withCostResidual"),
32 "Initialize the integrated-action model.\n\n"
33 "You can also integrate autonomous systems (i.e., when diffModel.nu "
34 "is equals to 0).\n"
35 ":param diffModel: differential action model\n"
36 ":param timestep: integration time step (default 1e-3)\n"
37 ":param withCostResidual: includes the cost residuals and "
38 "derivatives (default True)."))
39
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 10 .def(bp::init<std::shared_ptr<DifferentialActionModelAbstract>,
40 std::shared_ptr<ControlParametrizationModelAbstract>,
41 bp::optional<double, bool> >(
42
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 20 bp::args("self", "diffModel", "control", "stepTime",
43 "withCostResidual"),
44 "Initialize the integrated-action integrator.\n\n"
45 "You can also integrate autonomous systems (i.e., when diffModel.nu "
46 "is equals to 0).\n"
47 ":param model: differential action model\n"
48 ":param control: the control parametrization\n"
49 ":param stepTime: step time (default 1e-3)\n"
50 ":param withCostResidual: includes the cost residuals and "
51 "derivatives (default True)."))
52
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 10 .def("calc", pure_virtual(&IntegratedActionModelAbstract_wrap::calc),
53
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 20 bp::args("self", "data", "x", "u"),
54 "Compute the next state and cost value.\n\n"
55 "It describes the time-discrete evolution of our dynamical system\n"
56 "in which we obtain the next state. Additionally it computes the\n"
57 "cost value associated to this discrete state and control pair.\n"
58 ":param data: integrated-action data\n"
59 ":param x: state point (dim. state.nx)\n"
60 ":param u: control input (dim. nu)")
61 .def<void (IntegratedActionModelAbstract::*)(
62 const std::shared_ptr<ActionDataAbstract>&,
63 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
64 "calc", &IntegratedActionModelAbstract::calc,
65
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 20 bp::args("self", "data", "x"))
66
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 20 .def("calcDiff",
67 pure_virtual(&IntegratedActionModelAbstract_wrap::calcDiff),
68
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 20 bp::args("self", "data", "x", "u"),
69 "Compute the derivatives of the dynamics and cost functions.\n\n"
70 "It computes the partial derivatives of the dynamical system and "
71 "the\n"
72 "cost function. It assumes that calc has been run first.\n"
73 "This function builds a quadratic approximation of the\n"
74 "action model (i.e. linear dynamics and quadratic cost).\n"
75 ":param data: integrated-action data\n"
76 ":param x: state point (dim. state.nx)\n"
77 ":param u: control input (dim. nu)")
78 .def<void (IntegratedActionModelAbstract::*)(
79 const std::shared_ptr<ActionDataAbstract>&,
80 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
81 "calcDiff", &IntegratedActionModelAbstract::calcDiff,
82
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 20 bp::args("self", "data", "x"))
83
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 10 .def("createData", &IntegratedActionModelAbstract_wrap::createData,
84
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 10 &IntegratedActionModelAbstract_wrap::default_createData,
85
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 20 bp::args("self"),
86 "Create the integrated-action data.\n\n"
87 "Each integrated-action model (IAM) has its own data that needs to "
88 "be allocated.\n"
89 "This function returns the allocated data for a predefined IAM.\n"
90 ":return integrated-action data.")
91
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 10 .add_property("differential",
92
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 10 bp::make_function(
93 &IntegratedActionModelAbstract_wrap::get_differential,
94 10 bp::return_value_policy<bp::return_by_value>()),
95 "differential action model")
96
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 10 .add_property(
97 "control",
98
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 10 bp::make_function(&IntegratedActionModelAbstract_wrap::get_control,
99 10 bp::return_value_policy<bp::return_by_value>()),
100 "control parametrization model")
101
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 10 .add_property(
102 "dt",
103
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 10 bp::make_function(&IntegratedActionModelAbstract::get_dt,
104 10 bp::return_value_policy<bp::return_by_value>()),
105 &IntegratedActionModelAbstract::set_dt, "step time")
106
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 10 .def(PrintableVisitor<IntegratedActionModelAbstract>());
107
108 10 bp::register_ptr_to_python<std::shared_ptr<IntegratedActionDataAbstract> >();
109
110
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 10 bp::class_<IntegratedActionDataAbstract, bp::bases<ActionDataAbstract> >(
111 "IntegratedActionDataAbstract",
112 "Abstract class for integrated-action data.\n\n"
113 "In Crocoddyl, an action data contains all the required information for "
114 "processing an\n"
115 "user-defined action model. The action data typically is allocated onces "
116 "by running\n"
117 "model.createData() and contains the first- and second- order "
118 "derivatives of the dynamics\n"
119 "and cost function, respectively.",
120
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 10 bp::init<IntegratedActionModelAbstract*>(
121 20 bp::args("self", "model"),
122 "Create common data shared between integrated-action models.\n\n"
123 "The integrated-action data uses its model in order to first process "
124 "it.\n"
125 ":param model: integrated-action model"))
126
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 10 .def(CopyableVisitor<IntegratedActionDataAbstract>());
127 10 }
128
129 } // namespace python
130 } // namespace crocoddyl
131