GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/states/multibody.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 24 24 100.0%
Branches: 22 44 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/states/multibody.hpp"
11
12 #include "python/crocoddyl/core/state-base.hpp"
13 #include "python/crocoddyl/multibody/multibody.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 10 void exposeStateMultibody() {
20 10 bp::register_ptr_to_python<boost::shared_ptr<crocoddyl::StateMultibody> >();
21
22
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 10 bp::class_<StateMultibody, bp::bases<StateAbstract> >(
23 "StateMultibody",
24 "Multibody state defined using Pinocchio.\n\n"
25 "Pinocchio defines operators for integrating or differentiating the "
26 "robot's\n"
27 "configuration space. And here we assume that the state is defined by "
28 "the\n"
29 "robot's configuration and its joint velocities (x=[q,v]). Generally "
30 "speaking,\n"
31 "q lies on the manifold configuration manifold (M) and v in its tangent "
32 "space\n"
33 "(Tx M). Additionally the Pinocchio allows us to compute analytically "
34 "the\n"
35 "Jacobians for the differentiate and integrate operators. Note that this "
36 "code\n"
37 "can be reused in any robot that is described through its Pinocchio "
38 "model.",
39
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 10 bp::init<boost::shared_ptr<pinocchio::Model> >(
40 10 bp::args("self", "pinocchioModel"),
41 "Initialize the multibody state given a Pinocchio model.\n\n"
42 ":param pinocchioModel: pinocchio model (i.e. multibody model)")
43
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 20 [bp::with_custodian_and_ward<1, 2>()])
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 20 .def("zero", &StateMultibody::zero, bp::args("self"),
45 "Return the neutral robot configuration with zero velocity.\n\n"
46 ":return neutral robot configuration with zero velocity")
47
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 20 .def("rand", &StateMultibody::rand, bp::args("self"),
48 "Return a random reference state.\n\n"
49 ":return random reference state")
50
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 20 .def("diff", &StateMultibody::diff_dx, bp::args("self", "x0", "x1"),
51 "Operator that differentiates the two robot states.\n\n"
52 "It returns the value of x1 [-] x0 operation. This operator uses "
53 "the Lie\n"
54 "algebra since the robot's root could lie in the SE(3) manifold.\n"
55 ":param x0: current state (dim state.nx()).\n"
56 ":param x1: next state (dim state.nx()).\n"
57 ":return x1 - x0 value (dim state.nx()).")
58
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 10 .def("integrate", &StateMultibody::integrate_x,
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 20 bp::args("self", "x", "dx"),
60 "Operator that integrates the current robot state.\n\n"
61 "It returns the value of x [+] dx operation. This operator uses the "
62 "Lie\n"
63 "algebra since the robot's root could lie in the SE(3) manifold.\n"
64 "Futhermore there is no timestep here (i.e. dx = v*dt), note this "
65 "if you're\n"
66 "integrating a velocity v during an interval dt.\n"
67 ":param x: current state (dim state.nx()).\n"
68 ":param dx: displacement of the state (dim state.ndx()).\n"
69 ":return x + dx value (dim state.nx()).")
70
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 10 .def(
71 "Jdiff", &StateMultibody::Jdiff_Js,
72
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 10 Jdiffs(
73
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 20 bp::args("self", "x0", "x1", "firstsecond"),
74 "Compute the partial derivatives of the diff operator.\n\n"
75 "Both Jacobian matrices are represented throught an identity "
76 "matrix, with the exception\n"
77 "that the robot's root is defined as free-flying joint (SE(3)). "
78 "By default, this\n"
79 "function returns the derivatives of the first and second "
80 "argument (i.e.\n"
81 "firstsecond='both'). However we ask for a specific partial "
82 "derivative by setting\n"
83 "firstsecond='first' or firstsecond='second'.\n"
84 ":param x0: current state (dim state.nx()).\n"
85 ":param x1: next state (dim state.nx()).\n"
86 ":param firstsecond: derivative w.r.t x0 or x1 or both\n"
87 ":return the partial derivative(s) of the diff(x0, x1) function"))
88
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 10 .def("Jintegrate", &StateMultibody::Jintegrate_Js,
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 10 Jintegrates(
90
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 20 bp::args("self", "x", "dx", "firstsecond"),
91 "Compute the partial derivatives of arithmetic addition.\n\n"
92 "Both Jacobian matrices are represented throught an identity "
93 "matrix. with the exception\n"
94 "that the robot's root is defined as free-flying joint (SE(3)). "
95 "By default, this\n"
96 "function returns the derivatives of the first and second "
97 "argument (i.e.\n"
98 "firstsecond='both'). However we ask for a specific partial "
99 "derivative by setting\n"
100 "firstsecond='first' or firstsecond='second'.\n"
101 ":param x: current state (dim state.nx()).\n"
102 ":param dx: displacement of the state (dim state.ndx()).\n"
103 ":param firstsecond: derivative w.r.t x or dx or both\n"
104 ":return the partial derivative(s) of the integrate(x, dx) "
105 "function"))
106
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 10 .def("JintegrateTransport", &StateMultibody::JintegrateTransport,
107
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 20 bp::args("self", "x", "dx", "Jin", "firstsecond"),
108 "Parallel transport from integrate(x, dx) to x.\n\n"
109 "This function performs the parallel transportation of an input "
110 "matrix whose columns\n"
111 "are expressed in the tangent space at integrate(x, dx) to the "
112 "tangent space at x point\n"
113 ":param x: state point (dim. state.nx).\n"
114 ":param dx: velocity vector (dim state.ndx).\n"
115 ":param Jin: input matrix (number of rows = state.nv).\n"
116 ":param firstsecond: derivative w.r.t x or dx")
117
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 10 .add_property(
118 "pinocchio",
119
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 10 bp::make_function(&StateMultibody::get_pinocchio,
120 10 bp::return_value_policy<bp::return_by_value>()),
121 "pinocchio model")
122
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 10 .def(CopyableVisitor<StateMultibody>());
123 10 }
124
125 } // namespace python
126 } // namespace crocoddyl
127