GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/residuals/joint-acceleration.cpp
Date: 2025-02-24 23:41:29
Exec Total Coverage
Lines: 26 27 96.3%
Branches: 24 48 50.0%
Line Branch Exec Source
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 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeResidualJointAcceleration() {
18 10 bp::register_ptr_to_python<std::shared_ptr<ResidualModelJointAcceleration>>();
19
20
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 10 bp::class_<ResidualModelJointAcceleration, bp::bases<ResidualModelAbstract>>(
21 "ResidualModelJointAcceleration",
22 "This residual function defines a residual vector as r = a - aref, with "
23 "a and aref as the current and\n"
24 "reference joint acceleration (i.e., generalized acceleration), "
25 "respectively.",
26
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 10 bp::init<std::shared_ptr<StateAbstract>, Eigen::VectorXd, std::size_t>(
27 20 bp::args("self", "state", "aref", "nu"),
28 "Initialize the joint-acceleration residual model.\n\n"
29 ":param state: state description\n"
30 ":param aref: reference joint acceleration\n"
31 ":param nu: dimension of the control vector"))
32
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 10 .def(bp::init<std::shared_ptr<StateAbstract>, Eigen::VectorXd>(
33
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 20 bp::args("self", "state", "aref"),
34 "Initialize the joint-acceleration residual model.\n\n"
35 "The default nu value is obtained from state.nv.\n"
36 ":param state: state description\n"
37 ":param aref: reference joint acceleration"))
38
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 10 .def(bp::init<std::shared_ptr<StateAbstract>, std::size_t>(
39
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 20 bp::args("self", "state", "nu"),
40 "Initialize the joint-acceleration residual model.\n\n"
41 "The default reference joint-acceleration is obtained from "
42 "np.zero(actuation.nu).\n"
43 ":param state: state description\n"
44 ":param nu: dimension of the control vector"))
45
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 10 .def(bp::init<std::shared_ptr<StateAbstract>>(
46
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 20 bp::args("self", "state"),
47 "Initialize the joint-acceleration residual model.\n\n"
48 "The default reference joint-acceleration is obtained from "
49 "np.zero(actuation.nu).\n"
50 "The default nu value is obtained from state.nv.\n"
51 ":param state: state description"))
52 .def<void (ResidualModelJointAcceleration::*)(
53 const std::shared_ptr<ResidualDataAbstract>&,
54 const Eigen::Ref<const Eigen::VectorXd>&,
55 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
56 "calc", &ResidualModelJointAcceleration::calc,
57
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 20 bp::args("self", "data", "x", "u"),
58 "Compute the joint-acceleration residual.\n\n"
59 ":param data: residual data\n"
60 ":param x: state point (dim. state.nx)\n"
61 ":param u: control input (dim. nu)")
62 .def<void (ResidualModelJointAcceleration::*)(
63 const std::shared_ptr<ResidualDataAbstract>&,
64
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
65
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
66 .def<void (ResidualModelJointAcceleration::*)(
67 const std::shared_ptr<ResidualDataAbstract>&,
68 const Eigen::Ref<const Eigen::VectorXd>&,
69
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
70 "calcDiff", &ResidualModelJointAcceleration::calcDiff,
71
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 20 bp::args("self", "data", "x", "u"),
72 "Compute the Jacobians of the joint-acceleration residual.\n\n"
73 "It assumes that calc has been run first.\n"
74 ":param data: residual data\n"
75 ":param x: state point (dim. state.nx)\n"
76 ":param u: control input (dim. nu)")
77 .def<void (ResidualModelJointAcceleration::*)(
78 const std::shared_ptr<ResidualDataAbstract>&,
79 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
80 "calcDiff", &ResidualModelAbstract::calcDiff,
81
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 20 bp::args("self", "data", "x"))
82
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 20 .def("createData", &ResidualModelJointAcceleration::createData,
83 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
84
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 20 bp::args("self", "data"),
85 "Create the joint-acceleration residual data.\n\n"
86 "Each residual model has its own data that needs to be allocated. "
87 "This function\n"
88 "returns the allocated data for the joint-acceleration residual.\n"
89 ":param data: shared data\n"
90 ":return residual data.")
91
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 10 .add_property(
92 "reference",
93
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 10 bp::make_function(&ResidualModelJointAcceleration::get_reference,
94 10 bp::return_internal_reference<>()),
95 &ResidualModelJointAcceleration::set_reference,
96 "reference joint acceleration")
97
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 10 .def(CopyableVisitor<ResidualModelJointAcceleration>());
98 10 }
99
100 } // namespace python
101 } // namespace crocoddyl
102