GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/pair-collision.cpp
Date: 2025-03-13 15:22:42
Exec Total Coverage
Lines: 35 37 94.6%
Branches: 25 50 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, University of Edinburgh, LAAS-CNRS, INRIA,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #ifdef PINOCCHIO_WITH_HPP_FCL
11
12 #include "crocoddyl/multibody/residuals/pair-collision.hpp"
13
14 #include "python/crocoddyl/multibody/multibody.hpp"
15 #include "python/crocoddyl/utils/copyable.hpp"
16
17 namespace crocoddyl {
18 namespace python {
19
20 10 void exposeResidualPairCollision() {
21 10 bp::register_ptr_to_python<std::shared_ptr<ResidualModelPairCollision> >();
22
23
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 10 bp::class_<ResidualModelPairCollision, bp::bases<ResidualModelAbstract> >(
24 "ResidualModelPairCollision",
25
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 10 bp::init<std::shared_ptr<StateMultibody>, std::size_t,
26 std::shared_ptr<pinocchio::GeometryModel>, pinocchio::PairIndex,
27 pinocchio::JointIndex>(
28 20 bp::args("self", "state", "nu", "geom_model", "pair_id", "joint_id"),
29 "Initialize the pair collision residual model.\n\n"
30 ":param state: state of the multibody system\n"
31 ":param nu: dimension of control vector\n"
32 ":param geom_model: geometric model of the multibody system\n"
33 ":param pair_id: id of the pair of colliding objects\n"
34 ":param joint_id: used to calculate the Jacobian at the joint"))
35 .def<void (ResidualModelPairCollision::*)(
36 const std::shared_ptr<ResidualDataAbstract>&,
37 const Eigen::Ref<const Eigen::VectorXd>&,
38
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
39 "calc", &ResidualModelPairCollision::calc,
40
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 20 bp::args("self", "data", "x", "u"),
41 "Compute the pair collision residual.\n\n"
42 ":param data: residual data\n"
43 ":param x: state point (dim. state.nx)\n"
44 ":param u: control input (dim. nu)")
45 .def<void (ResidualModelPairCollision::*)(
46 const std::shared_ptr<ResidualDataAbstract>&,
47 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
48
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
49 .def<void (ResidualModelPairCollision::*)(
50 const std::shared_ptr<ResidualDataAbstract>&,
51 const Eigen::Ref<const Eigen::VectorXd>&,
52
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
53 "calcDiff", &ResidualModelPairCollision::calcDiff,
54
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 20 bp::args("self", "data", "x", "u"),
55 "Compute the Jacobians of the pair collision residual.\n\n"
56 "It assumes that calc has been run first.\n"
57 ":param data: action data\n"
58 ":param x: state point (dim. state.nx)\n"
59 ":param u: control input (dim. nu)")
60 .def<void (ResidualModelPairCollision::*)(
61 const std::shared_ptr<ResidualDataAbstract>&,
62 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
63 "calcDiff", &ResidualModelAbstract::calcDiff,
64
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 20 bp::args("self", "data", "x"))
65
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 20 .def("createData", &ResidualModelPairCollision::createData,
66 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
67
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 20 bp::args("self", "data"),
68 "Create the pair collision residual data.\n\n"
69 ":param data: shared data\n"
70 ":return residual data.")
71
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 10 .def(CopyableVisitor<ResidualModelPairCollision>());
72
73 10 bp::register_ptr_to_python<std::shared_ptr<ResidualDataPairCollision> >();
74
75
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 10 bp::class_<ResidualDataPairCollision, bp::bases<ResidualDataAbstract> >(
76 "ResidualDataPairCollision", "Data for pair collision residual.\n\n",
77
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 10 bp::init<ResidualModelPairCollision*, DataCollectorAbstract*>(
78 10 bp::args("self", "model", "data"),
79 "Create pair collision residual data.\n\n"
80 ":param model: pair collision residual model\n"
81 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
82
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("pinocchio",
84
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 10 bp::make_getter(&ResidualDataPairCollision::pinocchio,
85 10 bp::return_internal_reference<>()),
86 "pinocchio data")
87
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 10 .add_property("geometry",
88
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 10 bp::make_getter(&ResidualDataPairCollision::geometry,
89 10 bp::return_internal_reference<>()),
90 "pinocchio geometry data")
91
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 10 .add_property("J",
92
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 10 bp::make_getter(&ResidualDataPairCollision::J,
93 10 bp::return_internal_reference<>()),
94 "Jacobian of the collision joint")
95
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 10 .add_property("d",
96
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 10 bp::make_getter(&ResidualDataPairCollision::d,
97 10 bp::return_internal_reference<>()),
98 "vector from joint to collision point in world frame")
99
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 10 .def(CopyableVisitor<ResidualDataPairCollision>());
100 10 }
101
102 } // namespace python
103 } // namespace crocoddyl
104
105 #endif // PINOCCHIO_WITH_HPP_FCL
106