GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/contacts/multiple-contacts.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 90 97 92.8%
Branches: 83 166 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
5 // University of Oxford, Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
11
12 #include <functional>
13 #include <map>
14 #include <memory>
15
16 #include "python/crocoddyl/multibody/multibody.hpp"
17 #include "python/crocoddyl/utils/copyable.hpp"
18 #include "python/crocoddyl/utils/map-converter.hpp"
19 #include "python/crocoddyl/utils/printable.hpp"
20 #include "python/crocoddyl/utils/set-converter.hpp"
21
22 namespace crocoddyl {
23 namespace python {
24
25
1/2
✓ Branch 2 taken 13 times.
✗ Branch 3 not taken.
 46 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ContactModelMultiple_addContact_wrap,
26 ContactModelMultiple::addContact, 2, 3)
27
28 10 void exposeContactMultiple() {
29 // Register custom converters between std::map and Python dict
30 typedef boost::shared_ptr<ContactItem> ContactItemPtr;
31 typedef boost::shared_ptr<ContactDataAbstract> ContactDataPtr;
32 StdMapPythonVisitor<
33 std::string, ContactItemPtr, std::less<std::string>,
34 std::allocator<std::pair<const std::string, ContactItemPtr>>,
35
3/6
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
 10 true>::expose("StdMap_ContactItem");
36 StdMapPythonVisitor<
37 std::string, ContactDataPtr, std::less<std::string>,
38 std::allocator<std::pair<const std::string, ContactDataPtr>>,
39
3/6
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 10 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 10 times.
✗ Branch 10 not taken.
 10 true>::expose("StdMap_ContactData");
40
41 10 bp::register_ptr_to_python<boost::shared_ptr<ContactItem>>();
42
43
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<ContactItem>(
44 "ContactItem", "Describe a contact item.\n\n",
45
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<std::string, boost::shared_ptr<ContactModelAbstract>,
46 bp::optional<bool>>(
47 20 bp::args("self", "name", "contact", "active"),
48 "Initialize the contact item.\n\n"
49 ":param name: contact name\n"
50 ":param contact: contact model\n"
51 ":param active: True if the contact is activated (default true)"))
52
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def_readwrite("name", &ContactItem::name, "contact name")
53
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
54 "contact",
55
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactItem::contact,
56 10 bp::return_value_policy<bp::return_by_value>()),
57 "contact model")
58
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def_readwrite("active", &ContactItem::active, "contact status")
59
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<ContactItem>())
60
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(PrintableVisitor<ContactItem>());
61
62 10 bp::register_ptr_to_python<boost::shared_ptr<ContactModelMultiple>>();
63
64
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<ContactModelMultiple>(
65 "ContactModelMultiple",
66
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<boost::shared_ptr<StateMultibody>, bp::optional<std::size_t>>(
67 20 bp::args("self", "state", "nu"),
68 "Initialize the multiple contact model.\n\n"
69 ":param state: state of the multibody system\n"
70 ":param nu: dimension of control vector"))
71
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(
72 "addContact", &ContactModelMultiple::addContact,
73
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 ContactModelMultiple_addContact_wrap(
74
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "name", "contact", "active"),
75 "Add a contact item.\n\n"
76 ":param name: contact name\n"
77 ":param contact: contact model\n"
78 ":param active: True if the contact is activated (default true)"))
79
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("removeContact", &ContactModelMultiple::removeContact,
80
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "name"),
81 "Remove a contact item.\n\n"
82 ":param name: contact name")
83
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("changeContactStatus", &ContactModelMultiple::changeContactStatus,
84
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "name", "active"),
85 "Change the contact status.\n\n"
86 ":param name: contact name\n"
87 ":param active: contact status (true for active and false for "
88 "inactive)")
89
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("calc", &ContactModelMultiple::calc, bp::args("self", "data", "x"),
90 "Compute the contact Jacobian and contact acceleration.\n\n"
91 "The rigid contact model throught acceleration-base holonomic "
92 "constraint\n"
93 "of the contact frame placement.\n"
94 ":param data: contact data\n"
95 ":param x: state point (dim. state.nx)")
96
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("calcDiff", &ContactModelMultiple::calcDiff,
97
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "x"),
98 "Compute the derivatives of the contact holonomic constraint.\n\n"
99 "The rigid contact model throught acceleration-base holonomic "
100 "constraint\n"
101 "of the contact frame placement.\n"
102 "It assumes that calc has been run first.\n"
103 ":param data: contact data\n"
104 ":param x: state point (dim. state.nx)")
105
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("updateAcceleration", &ContactModelMultiple::updateAcceleration,
106
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "dv"),
107 "Update the constrained system acceleration.\n\n"
108 ":param data: contact data\n"
109 ":param dv: constrained acceleration (dimension nv)")
110
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("updateForce", &ContactModelMultiple::updateForce,
111
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "force"),
112 "Update the spatial force in frame coordinate.\n\n"
113 ":param data: contact data\n"
114 ":param force: force vector (dimension nc)")
115
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("updateAccelerationDiff",
116 &ContactModelMultiple::updateAccelerationDiff,
117
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "ddv_dx"),
118 "Update the Jacobian of the constrained system acceleration.\n\n"
119 ":param data: contact data\n"
120 ":param ddv_dx: Jacobian of the system acceleration in generalized "
121 "coordinates (dimension nv*ndx)")
122
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("updateForceDiff", &ContactModelMultiple::updateForceDiff,
123
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "df_dx", "df_du"),
124 "Update the Jacobians of the spatial force defined in frame "
125 "coordinates.\n\n"
126 ":param data: contact data\n"
127 ":param df_dx: Jacobian of the force with respect to the state "
128 "(dimension nc*ndx)\n"
129 ":param df_du: Jacobian of the force with respect to the control "
130 "(dimension nc*nu)")
131
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("updateRneaDiff", &ContactModelMultiple::updateRneaDiff,
132
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "pinocchio"),
133 "Update the RNEA derivative dtau_dq by by adding the skew term "
134 "(necessary for contacts expressed in\n"
135 "LOCAL_WORLD_ALIGNED / WORLD).\n\n"
136 ":param data: contact data\n"
137 ":param pinocchio: Pinocchio data")
138
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("createData", &ContactModelMultiple::createData,
139 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
140
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data"),
141 "Create the total contact data.\n\n"
142 ":param data: Pinocchio data\n"
143 ":return total contact data.")
144
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
145 "contacts",
146
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&ContactModelMultiple::get_contacts,
147 10 bp::return_value_policy<bp::return_by_value>()),
148 "stack of contacts")
149
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
150 "state",
151
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&ContactModelMultiple::get_state,
152 10 bp::return_value_policy<bp::return_by_value>()),
153 "state of the multibody system")
154
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .add_property("nc", bp::make_function(&ContactModelMultiple::get_nc),
155 "dimension of the active contact vector")
156
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("nc_total",
157
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_function(&ContactModelMultiple::get_nc_total),
158 "dimension of the total contact vector")
159
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .add_property("nu", bp::make_function(&ContactModelMultiple::get_nu),
160 "dimension of control vector")
161
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
162 "active_set",
163
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&ContactModelMultiple::get_active_set,
164 10 bp::return_value_policy<bp::return_by_value>()),
165 "names of the active set of contact items")
166
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
167 "inactive_set",
168
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&ContactModelMultiple::get_inactive_set,
169 10 bp::return_value_policy<bp::return_by_value>()),
170 "names of the inactive set of contact items")
171
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("getContactStatus", &ContactModelMultiple::getContactStatus,
172
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "name"),
173 "Return the contact status of a given contact name.\n\n"
174 ":param name: contact name")
175
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
176 "computeAllContacts",
177
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&ContactModelMultiple::getComputeAllContacts),
178
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_function(&ContactModelMultiple::setComputeAllContacts),
179 "type of contact computation (True for all contacts and False for "
180 "active contacts)")
181
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<ContactModelMultiple>())
182
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(PrintableVisitor<ContactModelMultiple>());
183
184 10 bp::register_ptr_to_python<boost::shared_ptr<ContactDataMultiple>>();
185
186
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<ContactDataMultiple>(
187 "ContactDataMultiple", "Data class for multiple contacts.\n\n",
188
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<ContactModelMultiple*, pinocchio::Data*>(
189 10 bp::args("self", "model", "data"),
190 "Create multicontact data.\n\n"
191 ":param model: multicontact model\n"
192 ✗ ":param data: Pinocchio data")[bp::with_custodian_and_ward<
193
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 1, 2, bp::with_custodian_and_ward<1, 3>>()])
194
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("Jc",
195
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::Jc,
196 ✗ bp::return_internal_reference<>()),
197
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&ContactDataMultiple::Jc),
198 "contact Jacobian in frame coordinate (memory defined for "
199 "active and inactive contacts)")
200
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("a0",
201
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::a0,
202 ✗ bp::return_internal_reference<>()),
203
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&ContactDataMultiple::a0),
204 "desired spatial contact acceleration in frame coordinate "
205 "(memory defined for active and inactive contacts)")
206
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("da0_dx",
207
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::da0_dx,
208 ✗ bp::return_internal_reference<>()),
209
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&ContactDataMultiple::da0_dx),
210 "Jacobian of the desired spatial contact acceleration in "
211 "frame coordinate (memory defined for active and "
212 "inactive contacts)")
213
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
214 "dv",
215
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::dv,
216 ✗ bp::return_internal_reference<>()),
217
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&ContactDataMultiple::dv),
218 "constrained system acceleration in generalized coordinates")
219
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("ddv_dx",
220
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::ddv_dx,
221 ✗ bp::return_internal_reference<>()),
222
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&ContactDataMultiple::ddv_dx),
223 "Jacobian of the constrained system acceleration in "
224 "generalized coordinates")
225
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
226 "contacts",
227
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&ContactDataMultiple::contacts,
228 10 bp::return_value_policy<bp::return_by_value>()),
229 "stack of contacts data")
230
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def_readwrite("fext", &ContactDataMultiple::fext,
231 "external spatial forces in join coordinates")
232
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<ContactDataMultiple>());
233 10 }
234
235 } // namespace python
236 } // namespace crocoddyl
237