GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/data/joint.hpp
Date: 2025-02-24 23:41:29
Exec Total Coverage
Lines: 18 21 85.7%
Branches: 12 24 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2022, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #ifndef CROCODDYL_CORE_DATA_JOINT_HPP_
10 #define CROCODDYL_CORE_DATA_JOINT_HPP_
11
12 #include <memory>
13
14 #include "crocoddyl/core/data-collector-base.hpp"
15 #include "crocoddyl/core/data/actuation.hpp"
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/state-base.hpp"
18
19 namespace crocoddyl {
20
21 template <typename _Scalar>
22 struct JointDataAbstractTpl {
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24
25 typedef _Scalar Scalar;
26 typedef MathBaseTpl<Scalar> MathBase;
27 typedef StateAbstractTpl<Scalar> StateAbstract;
28 typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
31
32 /**
33 * @brief Initialize a joint data structure containing generalized
34 * accelerations and joint efforts, and their derivatives.
35 *
36 * @param state State description
37 * @param actuation Actuation model
38 * @param nu Dimension of control input
39 */
40 91317 JointDataAbstractTpl(std::shared_ptr<StateAbstract> state,
41 std::shared_ptr<ActuationModelAbstract> actuation,
42 const std::size_t nu)
43
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 91317 : tau(actuation->get_nu()),
44
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 91317 a(state->get_nv()),
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 182634 da_du(state->get_nv(), nu) {
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 91317 tau.setZero();
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55 91317 }
56 182614 virtual ~JointDataAbstractTpl() {}
57
58 VectorXs tau; //!< Joint efforts
59 VectorXs a; //!< Generalized joint acceleration
60 MatrixXs dtau_dx; //!< Partial derivatives of the joint efforts w.r.t. the
61 //!< state point
62 MatrixXs dtau_du; //!< Partial derivatives of the joint efforts w.r.t. the
63 //!< control input
64 MatrixXs da_dx; //!< Partial derivatives of the generalized joint
65 //!< accelerations w.r.t. the state point
66 MatrixXs da_du; //!< Partial derivatives of the generalized joint
67 //!< accelerations w.r.t. the control input
68 };
69
70 template <typename Scalar>
71 struct DataCollectorJointTpl : virtual DataCollectorAbstractTpl<Scalar> {
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73
74 91321 DataCollectorJointTpl(std::shared_ptr<JointDataAbstractTpl<Scalar> > joint)
75 91321 : DataCollectorAbstractTpl<Scalar>(), joint(joint) {}
76 91329 virtual ~DataCollectorJointTpl() {}
77
78 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;
79 };
80
81 template <typename Scalar>
82 struct DataCollectorJointActuationTpl : DataCollectorActuationTpl<Scalar> {
83 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
84
85 /**
86 * @brief Initialize the joint-actuation data collector
87 *
88 * @param[in] actuation Actuation data
89 * @param[in] joint Joint data
90 */
91 ✗ DataCollectorJointActuationTpl(
92 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
93 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint)
94 ✗ : DataCollectorActuationTpl<Scalar>(actuation), joint(joint) {}
95 ✗ virtual ~DataCollectorJointActuationTpl() {}
96
97 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;
98 };
99
100 } // namespace crocoddyl
101
102 #endif // CROCODDYL_CORE_DATA_JOINT_HPP_
103