GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/residuals/joint-acceleration.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 15 16 93.8%
Branches: 37 74 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2022-2023, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/residuals/joint-acceleration.hpp"
10
11 #include "python/crocoddyl/core/core.hpp"
12
13 namespace crocoddyl {
14 namespace python {
15
16 template <typename Model>
17 struct ResidualModelJointAccelerationVisitor
18 : public bp::def_visitor<ResidualModelJointAccelerationVisitor<Model>> {
19 typedef typename Model::ResidualDataAbstract Data;
20 typedef typename Model::Base ModelBase;
21 typedef typename Model::StateAbstract State;
22 typedef typename Model::VectorXs VectorXs;
23 template <class PyClass>
24 40 void visit(PyClass& cl) const {
25
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 40 cl.def(bp::init<std::shared_ptr<State>, VectorXs>(
26 bp::args("self", "state", "aref"),
27 "Initialize the joint-acceleration residual model.\n\n"
28 "The default nu value is obtained from state.nv.\n"
29 ":param state: state description\n"
30 ":param aref: reference joint acceleration"))
31
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 80 .def(bp::init<std::shared_ptr<State>, std::size_t>(
32 bp::args("self", "state", "nu"),
33 "Initialize the joint-acceleration residual model.\n\n"
34 "The default reference joint-acceleration is obtained from "
35 "np.zero(actuation.nu).\n"
36 ":param state: state description\n"
37 ":param nu: dimension of the control vector"))
38
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 80 .def(bp::init<std::shared_ptr<State>>(
39 bp::args("self", "state"),
40 "Initialize the joint-acceleration residual model.\n\n"
41 "The default reference joint-acceleration is obtained from "
42 "np.zero(actuation.nu). The default nu value is obtained from "
43 "state.nv.\n"
44 ":param state: state description"))
45
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 80 .def(
46 "calc",
47 static_cast<void (Model::*)(
48 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
49 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
50 bp::args("self", "data", "x", "u"),
51 "Compute the joint-acceleration residual.\n\n"
52 ":param data: residual data\n"
53 ":param x: state point (dim. state.nx)\n"
54 ":param u: control input (dim. nu)")
55
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 80 .def("calc",
56 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
57 const Eigen::Ref<const VectorXs>&)>(
58 &Model::calc),
59 bp::args("self", "data", "x"))
60
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 80 .def(
61 "calcDiff",
62 static_cast<void (Model::*)(
63 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
64 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
65 bp::args("self", "data", "x", "u"),
66 "Compute the Jacobians of the joint-acceleration residual.\n\n"
67 "It assumes that calc has been run first.\n"
68 ":param data: residual data\n"
69 ":param x: state point (dim. state.nx)\n"
70 ":param u: control input (dim. nu)")
71
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 80 .def(
72 "calcDiff",
73 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
74 const Eigen::Ref<const VectorXs>&)>(
75 &ModelBase::calcDiff),
76 bp::args("self", "data", "x"))
77
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 80 .def("createData", &Model::createData,
78 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
79 bp::args("self", "data"),
80 "Create the joint-acceleration residual data.\n\n"
81 "Each residual model has its own data that needs to be allocated. "
82 "This function\n"
83 "returns the allocated data for the joint-acceleration residual.\n"
84 ":param data: shared data\n"
85 ":return residual data.")
86
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 40 .add_property("reference",
87 bp::make_function(&Model::get_reference,
88 40 bp::return_internal_reference<>()),
89 &Model::set_reference, "reference joint acceleration");
90 40 }
91 };
92
93 #define CROCODDYL_RESIDUAL_MODEL_JOINTACC_PYTHON_BINDINGS(Scalar) \
94 typedef ResidualModelJointAccelerationTpl<Scalar> Model; \
95 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
96 typedef typename ModelBase::StateAbstract State; \
97 typedef typename ModelBase::VectorXs VectorXs; \
98 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
99 bp::class_<Model, bp::bases<ModelBase>>( \
100 "ResidualModelJointAcceleration", \
101 "This residual function defines a residual vector as r = a - aref, " \
102 "with a and aref as the current and reference joint acceleration " \
103 "(i.e., generalized acceleration), respectively.", \
104 bp::init<std::shared_ptr<State>, VectorXs, std::size_t>( \
105 bp::args("self", "state", "aref", "nu"), \
106 "Initialize the joint-acceleration residual model.\n\n" \
107 ":param state: state description\n" \
108 ":param aref: reference joint acceleration\n" \
109 ":param nu: dimension of the control vector")) \
110 .def(ResidualModelJointAccelerationVisitor<Model>()) \
111 .def(CastVisitor<Model>()) \
112 .def(PrintableVisitor<Model>()) \
113 .def(CopyableVisitor<Model>());
114
115 10 void exposeResidualJointAcceleration() {
116
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_MODEL_JOINTACC_PYTHON_BINDINGS)
117 10 }
118
119 } // namespace python
120 } // namespace crocoddyl
121