GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/residuals/joint-effort.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 16 17 94.1%
Branches: 37 74 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2022-2025, Heriot-Watt University, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/residuals/joint-effort.hpp"
10
11 #include "python/crocoddyl/core/core.hpp"
12
13 namespace crocoddyl {
14 namespace python {
15
16 template <typename Model>
17 struct ResidualModelJointEffortVisitor
18 : public bp::def_visitor<ResidualModelJointEffortVisitor<Model>> {
19 typedef typename Model::ResidualDataAbstract Data;
20 typedef typename Model::Base ModelBase;
21 typedef typename Model::StateAbstract State;
22 typedef typename Model::ActuationModelAbstract Actuation;
23 typedef typename Model::VectorXs VectorXs;
24 template <class PyClass>
25 40 void visit(PyClass& cl) const {
26
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 40 cl.def(
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 40 bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>,
28 VectorXs>(bp::args("self", "state", "actuation", "uref"),
29 "Initialize the joint-effort residual model.\n\n"
30 "The default nu value is obtained from state.nv.\n"
31 ":param state: state description\n"
32 ":param actuation: actuation model\n"
33 ":param uref: reference joint effort"))
34
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 80 .def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>,
35 std::size_t>(
36 bp::args("self", "state", "actuation", "nu"),
37 "Initialize the joint-effort residual model.\n\n"
38 "The default reference joint-effort is obtained from "
39 "np.zero(actuation.nu).\n"
40 ":param state: state description\n"
41 ":param actuation: actuation model\n"
42 ":param nu: dimension of the control vector"))
43
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 80 .def(bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>>(
44 bp::args("self", "state", "actuation"),
45 "Initialize the joint-effort residual model.\n\n"
46 "The default reference joint-effort is obtained from "
47 "np.zero(actuation.nu).\n"
48 "The default nu value is obtained from state.nv.\n"
49 ":param state: state description\n"
50 ":param actuation: actuation model"))
51
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 80 .def(
52 "calc",
53 static_cast<void (Model::*)(
54 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
55 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
56 bp::args("self", "data", "x", "u"),
57 "Compute the joint-effort residual.\n\n"
58 ":param data: residual data\n"
59 ":param x: state point (dim. state.nx)\n"
60 ":param u: control input (dim. nu)")
61
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 80 .def("calc",
62 static_cast<void (Model::*)(const std::shared_ptr<Data>&,
63 const Eigen::Ref<const VectorXs>&)>(
64 &Model::calc),
65 bp::args("self", "data", "x"))
66
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 80 .def(
67 "calcDiff",
68 static_cast<void (Model::*)(
69 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
70 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
71 bp::args("self", "data", "x", "u"),
72 "Compute the Jacobians of the joint-effort 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
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 80 .def(
78 "calcDiff",
79 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
80 const Eigen::Ref<const VectorXs>&)>(
81 &ModelBase::calcDiff),
82 bp::args("self", "data", "x"))
83
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 80 .def("createData", &Model::createData,
84 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
85 bp::args("self", "data"),
86 "Create the joint-effort residual data.\n\n"
87 "Each residual model has its own data that needs to be allocated. "
88 "This function\n"
89 "returns the allocated data for the joint-effort residual.\n"
90 ":param data: shared data\n"
91 ":return residual data.")
92
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 40 .add_property("reference",
93 bp::make_function(&Model::get_reference,
94 40 bp::return_internal_reference<>()),
95 &Model::set_reference, "reference joint effort");
96 40 }
97 };
98
99 #define CROCODDYL_RESIDUAL_MODEL_JOINTEFF_PYTHON_BINDINGS(Scalar) \
100 typedef ResidualModelJointEffortTpl<Scalar> Model; \
101 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
102 typedef typename ModelBase::StateAbstract State; \
103 typedef typename Model::ActuationModelAbstract Actuation; \
104 typedef typename ModelBase::VectorXs VectorXs; \
105 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
106 bp::class_<Model, bp::bases<ModelBase>>( \
107 "ResidualModelJointEffort", \
108 "This residual function defines a residual vector as r = u - uref, " \
109 "with u and uref as the current and reference joint efforts, " \
110 "respectively.", \
111 bp::init<std::shared_ptr<State>, std::shared_ptr<Actuation>, VectorXs, \
112 std::size_t, bp::optional<bool>>( \
113 bp::args("self", "state", "actuation", "uref", "nu", "fwddyn"), \
114 "Initialize the joint-effort residual model.\n\n" \
115 ":param state: state description\n" \
116 ":param actuation: actuation model\n" \
117 ":param uref: reference joint effort\n" \
118 ":param nu: dimension of the control vector\n" \
119 ":param fwddyn: indicate if we have a forward dynamics problem " \
120 "(True) or inverse dynamics problem (False) (default False)")) \
121 .def(ResidualModelJointEffortVisitor<Model>()) \
122 .def(CastVisitor<Model>()) \
123 .def(PrintableVisitor<Model>()) \
124 .def(CopyableVisitor<Model>());
125
126 10 void exposeResidualJointEffort() {
127
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_RESIDUAL_MODEL_JOINTEFF_PYTHON_BINDINGS)
128 10 }
129
130 } // namespace python
131 } // namespace crocoddyl
132