GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/residuals/joint-acceleration.hxx
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 26 41 63.4%
Branches: 11 100 11.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2023-2025, 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 namespace crocoddyl {
12
13 template <typename Scalar>
14 ✗ ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl(
15 std::shared_ptr<StateAbstract> state, const VectorXs& aref,
16 const std::size_t nu)
17 ✗ : Base(state, state->get_nv(), nu, true, true, true), aref_(aref) {
18 ✗ if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) {
19 ✗ throw_pretty(
20 "Invalid argument: " << "aref has wrong dimension (it should be " +
21 std::to_string(state->get_nv()) + ")");
22 }
23 }
24
25 template <typename Scalar>
26 ✗ ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl(
27 std::shared_ptr<StateAbstract> state, const VectorXs& aref)
28 : Base(state, state->get_nv(), state->get_nv(), true, true, true),
29 ✗ aref_(aref) {
30 ✗ if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) {
31 ✗ throw_pretty(
32 "Invalid argument: " << "aref has wrong dimension (it should be " +
33 std::to_string(state->get_nv()) + ")");
34 }
35 }
36
37 template <typename Scalar>
38 150 ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl(
39 std::shared_ptr<StateAbstract> state, const std::size_t nu)
40 : Base(state, state->get_nv(), nu, true, true, true),
41
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 150 aref_(VectorXs::Zero(state->get_nv())) {}
42
43 template <typename Scalar>
44 1 ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl(
45 std::shared_ptr<StateAbstract> state)
46 : Base(state, state->get_nv(), state->get_nv(), true, true, true),
47
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 1 aref_(VectorXs::Zero(state->get_nv())) {}
48
49 template <typename Scalar>
50 7040 void ResidualModelJointAccelerationTpl<Scalar>::calc(
51 const std::shared_ptr<ResidualDataAbstract>& data,
52 const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) {
53 7040 Data* d = static_cast<Data*>(data.get());
54
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 7040 data->r = d->joint->a - aref_;
55 7040 }
56
57 template <typename Scalar>
58 571 void ResidualModelJointAccelerationTpl<Scalar>::calc(
59 const std::shared_ptr<ResidualDataAbstract>& data,
60 const Eigen::Ref<const VectorXs>&) {
61 571 data->r.setZero();
62 571 }
63
64 template <typename Scalar>
65 1947 void ResidualModelJointAccelerationTpl<Scalar>::calcDiff(
66 const std::shared_ptr<ResidualDataAbstract>& data,
67 const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) {
68 1947 Data* d = static_cast<Data*>(data.get());
69 1947 data->Rx = d->joint->da_dx;
70 1947 data->Ru = d->joint->da_du;
71 1947 }
72
73 template <typename Scalar>
74 std::shared_ptr<ResidualDataAbstractTpl<Scalar> >
75 9793 ResidualModelJointAccelerationTpl<Scalar>::createData(
76 DataCollectorAbstract* const data) {
77
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 19586 std::shared_ptr<ResidualDataAbstract> d =
78 9793 std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, data);
79 9793 return d;
80 }
81
82 template <typename Scalar>
83 template <typename NewScalar>
84 ResidualModelJointAccelerationTpl<NewScalar>
85 ✗ ResidualModelJointAccelerationTpl<Scalar>::cast() const {
86 typedef ResidualModelJointAccelerationTpl<NewScalar> ReturnType;
87 ✗ ReturnType ret(state_->template cast<NewScalar>(),
88 ✗ aref_.template cast<NewScalar>(), nu_);
89 ✗ return ret;
90 }
91
92 template <typename Scalar>
93 ✗ void ResidualModelJointAccelerationTpl<Scalar>::print(std::ostream& os) const {
94 ✗ os << "ResidualModelJointAcceleration";
95 }
96
97 template <typename Scalar>
98 const typename MathBaseTpl<Scalar>::VectorXs&
99 1 ResidualModelJointAccelerationTpl<Scalar>::get_reference() const {
100 1 return aref_;
101 }
102
103 template <typename Scalar>
104 1 void ResidualModelJointAccelerationTpl<Scalar>::set_reference(
105 const VectorXs& reference) {
106
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 1 if (static_cast<std::size_t>(reference.size()) != nr_) {
107 ✗ throw_pretty(
108 "Invalid argument: "
109 << "the generalized-acceleration reference has wrong dimension ("
110 << reference.size()
111 << " provided - it should be " + std::to_string(nr_) + ")")
112 }
113 1 aref_ = reference;
114 1 }
115
116 } // namespace crocoddyl
117