GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/actuations/multicopter-base.cpp
Date: 2025-03-13 15:22:42
Exec Total Coverage
Lines: 24 25 96.0%
Branches: 21 42 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, IRI: CSIC-UPC
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/actuations/multicopter-base.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeActuationModelMultiCopterBase() {
19 bp::register_ptr_to_python<
20 10 std::shared_ptr<crocoddyl::ActuationModelMultiCopterBase> >();
21
22
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 10 bp::class_<ActuationModelMultiCopterBase, bp::bases<ActuationModelAbstract> >(
23 "ActuationModelMultiCopterBase",
24 "Actuation models with base actuated by several propellers (e.g. aerial "
25 "manipulators).",
26
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 10 bp::init<std::shared_ptr<StateMultibody>,
27 Eigen::Matrix<double, 6, Eigen::Dynamic> >(
28 20 bp::args("self", "state", "tau_f"),
29 "Initialize the full actuation model.\n\n"
30 ":param state: state of multibody system\n"
31 ":param tau_f: matrix that maps rotors thrust to generalized torque "
32 "of the flying base."))
33
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 10 .def(bp::init<std::shared_ptr<StateMultibody>, std::size_t,
34 Eigen::Matrix<double, 6, Eigen::Dynamic> >(
35
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 20 bp::args("self", "state", "nrotors", "tau_f"),
36 "Initialize the full actuation model.\n\n"
37 ":param state: state of multibody system, \n"
38 ":param nrotors: number of rotors of the flying base, \n"
39 ":param tau_f: matrix that maps rotors thrust to generalized torque "
40 "of the flying base."))
41 .def<void (ActuationModelMultiCopterBase::*)(
42 const std::shared_ptr<ActuationDataAbstract>&,
43 const Eigen::Ref<const Eigen::VectorXd>&,
44
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
45 "calc", &ActuationModelMultiCopterBase::calc,
46
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 20 bp::args("self", "data", "x", "u"),
47 "Compute the actuation signal and actuation set from the joint "
48 "torque input u.\n\n"
49 ":param data: multicopter-base actuation data\n"
50 ":param x: state point (dim. state.nx)\n"
51 ":param u: joint torque input (dim. nu)")
52
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 10 .def("calcDiff", &ActuationModelMultiCopterBase::calcDiff,
53
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 20 bp::args("self", "data", "x", "u"),
54 "Compute the derivatives of the actuation model.\n\n"
55 "It computes the partial derivatives of the full actuation. It "
56 "assumes that calc\n"
57 "has been run first. The reason is that the derivatives are "
58 "constant and\n"
59 "defined in createData. The Hessian is constant, so we don't write "
60 "again this value.\n"
61 ":param data: multicopter-base actuation data\n"
62 ":param x: state point (dim. state.nx)\n"
63 ":param u: joint torque input (dim. nu)")
64
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 10 .def("commands", &ActuationModelMultiCopterBase::commands,
65
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 20 bp::args("self", "data", "x", "tau"),
66 "Compute the joint torque commands from the generalized torques.\n\n"
67 "It stores the results in data.u.\n"
68 ":param data: actuation data\n"
69 ":param x: state point (dim. state.nx)\n"
70 ":param tau: generalized torques (dim state.nv)")
71
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 10 .def("torqueTransform", &ActuationModelMultiCopterBase::torqueTransform,
72
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 20 bp::args("self", "data", "x", "tau"),
73 "Compute the torque transform from generalized torques to joint "
74 "torque inputs.\n\n"
75 "It stores the results in data.Mtau.\n"
76 ":param data: actuation data\n"
77 ":param x: state point (dim. state.nx)\n"
78 ":param tau: generalized torques (dim state.nv)")
79
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 10 .def("createData", &ActuationModelMultiCopterBase::createData,
80
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 20 bp::args("self"),
81 "Create the multicopter-base actuation data.\n\n"
82 "Each actuation model (AM) has its own data that needs to be "
83 "allocated.\n"
84 "This function returns the allocated data for a predefined AM.\n"
85 ":return AM data.")
86
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 10 .add_property(
87 "nrotors",
88
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 20 bp::make_function(&ActuationModelMultiCopterBase::get_nrotors),
89 "Number of rotors in the flying base")
90
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 10 .add_property(
91 "tauf",
92
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 10 bp::make_function(&ActuationModelMultiCopterBase::get_tauf,
93 ✗ bp::return_value_policy<bp::return_by_value>()),
94
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 20 bp::make_function(&ActuationModelMultiCopterBase::set_tauf),
95 "Matrix mapping from thrusts to body torque")
96
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 10 .def(CopyableVisitor<ActuationModelMultiCopterBase>());
97 10 }
98
99 } // namespace python
100 } // namespace crocoddyl
101