GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/data/joint.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 36 42 85.7%
Branches: 29 58 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2022-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/data/joint.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 exposeDataCollectorJoint() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<JointDataAbstract> >();
19
20
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<JointDataAbstract>(
21 "JointDataAbstract",
22 "Abstract class for joint datas.\n\n"
23 "A joint data contains all the required information about joint efforts "
24 "and accelerations.\n"
25 "The joint data typically is allocated once by running "
26 "model.createData().",
27
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<boost::shared_ptr<StateAbstract>,
28 boost::shared_ptr<ActuationModelAbstract>, std::size_t>(
29 20 bp::args("self", "state", "actuation", "nu"),
30 "Create the joint data.\n\n"
31 "The joint data uses the model in order to first process it.\n"
32 ":param state: state description\n"
33 ":param actuation: actuation model\n"
34 ":param nu: dimension of control vector."))
35
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("tau",
36
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::tau,
37 ✗ bp::return_internal_reference<>()),
38
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::tau), "joint efforts")
39
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("a",
40
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::a,
41 ✗ bp::return_internal_reference<>()),
42
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::a),
43 "generalized joint accelerations")
44
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
45 "dtau_dx",
46
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::dtau_dx,
47 ✗ bp::return_internal_reference<>()),
48
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::dtau_dx),
49 "partial derivatives of the joint efforts w.r.t. the state point")
50
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
51 "dtau_du",
52
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::dtau_du,
53 ✗ bp::return_internal_reference<>()),
54
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::dtau_du),
55 "partial derivatives of the joint efforts w.r.t. the control input")
56
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("da_dx",
57
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::da_dx,
58 ✗ bp::return_internal_reference<>()),
59
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::da_dx),
60 "partial derivatives of the generalized joint "
61 "accelerations w.r.t. the state point")
62
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("da_du",
63
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&JointDataAbstract::da_du,
64 ✗ bp::return_internal_reference<>()),
65
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&JointDataAbstract::da_du),
66 "partial derivatives of the generalized joint "
67 "accelerations w.r.t. the control input")
68
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<JointDataAbstract>());
69
70
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<DataCollectorJoint, bp::bases<DataCollectorAbstract> >(
71 "DataCollectorJoint", "Joint data collector.\n\n",
72
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<boost::shared_ptr<JointDataAbstract> >(
73 20 bp::args("self", "joint"),
74 "Create joint data collection.\n\n"
75 ":param joint: joint data"))
76
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
77 "joint",
78
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&DataCollectorJoint::joint,
79 10 bp::return_value_policy<bp::return_by_value>()),
80 "joint data")
81
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<DataCollectorJoint>());
82
83
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<DataCollectorJointActuation, bp::bases<DataCollectorActuation> >(
84 "DataCollectorJointActuation", "Joint-actuation data collector.\n\n",
85
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<boost::shared_ptr<ActuationDataAbstract>,
86 boost::shared_ptr<JointDataAbstract> >(
87 20 bp::args("self", "actuation", "joint"),
88 "Create joint-actuation data collection.\n\n"
89 ":param actuation: actuation data"
90 ":param joint: joint data"))
91
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<DataCollectorJointActuation>());
92 10 }
93
94 } // namespace python
95 } // namespace crocoddyl
96