GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/impulses/multiple-impulses.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 83 89 93.3%
Branches: 75 150 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/impulses/multiple-impulses.hpp"
11
12 #include <functional>
13 #include <map>
14 #include <memory>
15 #include <string>
16 #include <utility>
17
18 #include "python/crocoddyl/multibody/multibody.hpp"
19 #include "python/crocoddyl/utils/copyable.hpp"
20 #include "python/crocoddyl/utils/map-converter.hpp"
21 #include "python/crocoddyl/utils/printable.hpp"
22
23 namespace crocoddyl {
24 namespace python {
25
26
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 44 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ImpulseModelMultiple_addImpulse_wrap,
27 ImpulseModelMultiple::addImpulse, 2, 3)
28
29 10 void exposeImpulseMultiple() {
30 // Register custom converters between std::map and Python dict
31 typedef boost::shared_ptr<ImpulseItem> ImpulseItemPtr;
32 typedef boost::shared_ptr<ImpulseDataAbstract> ImpulseDataPtr;
33 StdMapPythonVisitor<
34 std::string, ImpulseItemPtr, std::less<std::string>,
35 std::allocator<std::pair<const std::string, ImpulseItemPtr>>,
36
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 10 true>::expose("StdMap_ImpulseItem");
37 StdMapPythonVisitor<
38 std::string, ImpulseDataPtr, std::less<std::string>,
39 std::allocator<std::pair<const std::string, ImpulseDataPtr>>,
40
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 10 true>::expose("StdMap_ImpulseData");
41
42 10 bp::register_ptr_to_python<boost::shared_ptr<ImpulseItem>>();
43
44
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 10 bp::class_<ImpulseItem>(
45 "ImpulseItem", "Describe a impulse item.\n\n",
46
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 10 bp::init<std::string, boost::shared_ptr<ImpulseModelAbstract>,
47 bp::optional<bool>>(
48 20 bp::args("self", "name", "impulse", "active"),
49 "Initialize the impulse item.\n\n"
50 ":param name: impulse name\n"
51 ":param impulse: impulse model\n"
52 ":param active: True if the impulse is activated (default true)"))
53
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 10 .def_readwrite("name", &ImpulseItem::name, "impulse name")
54
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 10 .add_property(
55 "impulse",
56
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 10 bp::make_getter(&ImpulseItem::impulse,
57 10 bp::return_value_policy<bp::return_by_value>()),
58 "impulse model")
59
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 10 .def_readwrite("active", &ImpulseItem::active, "impulse status")
60
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 10 .def(CopyableVisitor<ImpulseItem>())
61
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 10 .def(PrintableVisitor<ImpulseItem>());
62 ;
63
64 10 bp::register_ptr_to_python<boost::shared_ptr<ImpulseModelMultiple>>();
65
66
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 10 bp::class_<ImpulseModelMultiple>(
67 "ImpulseModelMultiple",
68
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 10 bp::init<boost::shared_ptr<StateMultibody>>(
69 20 bp::args("self", "state"),
70 "Initialize the multiple impulse model.\n\n"
71 ":param state: state of the multibody system"))
72
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 10 .def(
73 "addImpulse", &ImpulseModelMultiple::addImpulse,
74
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 10 ImpulseModelMultiple_addImpulse_wrap(
75
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 20 bp::args("self", "name", "impulse", "active"),
76 "Add an impulse item.\n\n"
77 ":param name: impulse name\n"
78 ":param impulse: impulse model\n"
79 ":param active: True if the impulse is activated (default true)"))
80
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 10 .def("removeImpulse", &ImpulseModelMultiple::removeImpulse,
81
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 20 bp::args("self", "name"),
82 "Remove an impulse item.\n\n"
83 ":param name: impulse name")
84
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 10 .def("changeImpulseStatus", &ImpulseModelMultiple::changeImpulseStatus,
85
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 20 bp::args("self", "name", "active"),
86 "Change the impulse status.\n\n"
87 ":param name: impulse name\n"
88 ":param active: impulse status (true for active and false for "
89 "inactive)")
90
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 20 .def("calc", &ImpulseModelMultiple::calc, bp::args("self", "data", "x"),
91 "Compute the impulse Jacobian and drift.\n\n"
92 "The rigid impulse model throught acceleration-base holonomic "
93 "constraint\n"
94 "of the impulse frame placement.\n"
95 ":param data: impulse data\n"
96 ":param x: state point (dim. state.nx)")
97
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 10 .def("calcDiff", &ImpulseModelMultiple::calcDiff,
98
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 20 bp::args("self", "data", "x"),
99 "Compute the derivatives of the impulse holonomic constraint.\n\n"
100 "The rigid impulse model throught acceleration-base holonomic "
101 "constraint\n"
102 "of the impulse frame placement.\n"
103 "It assumes that calc has been run first.\n"
104 ":param data: impulse data\n"
105 ":param x: state point (dim. state.nx)")
106
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 10 .def("updateVelocity", &ImpulseModelMultiple::updateVelocity,
107
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 20 bp::args("self", "data", "vnext"),
108 "Update the system velocity after impulse.\n\n"
109 ":param data: impulse data\n"
110 ":param vnext: velocity after impulse (dimension nv)")
111
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 10 .def("updateForce", &ImpulseModelMultiple::updateForce,
112
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 20 bp::args("self", "data", "force"),
113 "Update the spatial impulse defined in frame coordinate.\n\n"
114 ":param data: impulse data\n"
115 ":param force: force vector (dimension ni)")
116
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 10 .def("updateVelocityDiff", &ImpulseModelMultiple::updateVelocityDiff,
117
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 20 bp::args("self", "data", "dvnext_dx"),
118 "Update the Jacobian of the system velocity after impulse.\n\n"
119 ":param data: impulse data\n"
120 ":param dvnext_dx: Jacobian of the impulse velocity (dimension "
121 "nv*ndx)")
122
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 10 .def("updateForceDiff", &ImpulseModelMultiple::updateForceDiff,
123
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 20 bp::args("self", "data", "df_dx"),
124 "Update the Jacobian of the spatial impulse defined in frame "
125 "coordinate.\n\n"
126 ":param data: impulse data\n"
127 ":param df_dx: Jacobian of the impulse force (dimension ni*ndx)")
128
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 10 .def("updateRneaDiff", &ImpulseModelMultiple::updateRneaDiff,
129
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 20 bp::args("self", "data", "pinocchio"),
130 "Update the RNEA derivative dtau_dq by by adding the skew term "
131 "(necessary for impulses expressed in\n"
132 "LOCAL_WORLD_ALIGNED / WORLD).\n\n"
133 ":param data: impulse data\n"
134 ":param pinocchio: Pinocchio data")
135
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 10 .def("createData", &ImpulseModelMultiple::createData,
136 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
137
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 20 bp::args("self", "data"),
138 "Create the total impulse data.\n\n"
139 ":param data: Pinocchio data\n"
140 ":return total impulse data.")
141
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 10 .add_property(
142 "impulses",
143
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 10 bp::make_function(&ImpulseModelMultiple::get_impulses,
144 10 bp::return_value_policy<bp::return_by_value>()),
145 "stack of impulses")
146
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 10 .add_property(
147 "state",
148
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 10 bp::make_function(&ImpulseModelMultiple::get_state,
149 10 bp::return_value_policy<bp::return_by_value>()),
150 "state of the multibody system")
151
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 20 .add_property("nc", bp::make_function(&ImpulseModelMultiple::get_nc),
152 "dimension of the active impulse vector")
153
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 10 .add_property("nc_total",
154
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 20 bp::make_function(&ImpulseModelMultiple::get_nc_total),
155 "dimension of the total impulse vector")
156
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 10 .add_property(
157 "active_set",
158
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 10 bp::make_function(&ImpulseModelMultiple::get_active_set,
159 10 bp::return_value_policy<bp::return_by_value>()),
160 "set of names of active impulse items")
161
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 10 .add_property(
162 "inactive_set",
163
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 10 bp::make_function(&ImpulseModelMultiple::get_inactive_set,
164 10 bp::return_value_policy<bp::return_by_value>()),
165 "set of names of inactive impulse items")
166
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 10 .def("getImpulseStatus", &ImpulseModelMultiple::getImpulseStatus,
167
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 20 bp::args("self", "name"),
168 "Return the impulse status of a given impulse name.\n\n"
169 ":param name: impulse name")
170
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 10 .def(CopyableVisitor<ImpulseModelMultiple>())
171
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 10 .def(PrintableVisitor<ImpulseModelMultiple>());
172
173 10 bp::register_ptr_to_python<boost::shared_ptr<ImpulseDataMultiple>>();
174
175
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 10 bp::class_<ImpulseDataMultiple>(
176 "ImpulseDataMultiple", "Data class for multiple impulses.\n\n",
177
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 10 bp::init<ImpulseModelMultiple*, pinocchio::Data*>(
178 10 bp::args("self", "model", "data"),
179 "Create multi-impulse data.\n\n"
180 ":param model: multi-impulse model\n"
181 ✗ ":param data: Pinocchio data")[bp::with_custodian_and_ward<
182
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 20 1, 2, bp::with_custodian_and_ward<1, 3>>()])
183
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 10 .add_property("Jc",
184
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 10 bp::make_getter(&ImpulseDataMultiple::Jc,
185 ✗ bp::return_internal_reference<>()),
186
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 20 bp::make_setter(&ImpulseDataMultiple::Jc),
187 "Jacobian for all impulses (active and inactive)")
188
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 10 .add_property(
189 "dv0_dq",
190
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 10 bp::make_getter(&ImpulseDataMultiple::dv0_dq,
191 ✗ bp::return_internal_reference<>()),
192
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 20 bp::make_setter(&ImpulseDataMultiple::dv0_dq),
193 "Jacobian of the previous impulse velocity (active and inactive)")
194
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 10 .add_property("vnext",
195
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 10 bp::make_getter(&ImpulseDataMultiple::vnext,
196 ✗ bp::return_internal_reference<>()),
197
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 20 bp::make_setter(&ImpulseDataMultiple::vnext),
198 "impulse system velocity")
199
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 10 .add_property("dvnext_dx",
200
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 10 bp::make_getter(&ImpulseDataMultiple::dvnext_dx,
201 ✗ bp::return_internal_reference<>()),
202
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 20 bp::make_setter(&ImpulseDataMultiple::dvnext_dx),
203 "Jacobian of the impulse system velocity")
204
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 10 .add_property(
205 "impulses",
206
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 10 bp::make_getter(&ImpulseDataMultiple::impulses,
207 10 bp::return_value_policy<bp::return_by_value>()),
208 "stack of impulses data")
209
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 10 .def_readwrite("fext", &ImpulseDataMultiple::fext,
210 "external spatial forces")
211
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 10 .def(CopyableVisitor<ImpulseDataMultiple>());
212 10 }
213
214 } // namespace python
215 } // namespace crocoddyl
216