GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/controls/poly-one.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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Branches: 45 90 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, University of Trento
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/controls/poly-one.hpp"
11
12 #include "python/crocoddyl/core/control-base.hpp"
13 #include "python/crocoddyl/core/core.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 namespace crocoddyl {
17 namespace python {
18
19 template <typename Model>
20 struct ControlParametrizationModelPolyOneVisitor
21 : public bp::def_visitor<ControlParametrizationModelPolyOneVisitor<Model>> {
22 typedef typename Model::Scalar Scalar;
23 typedef typename Model::ControlParametrizationDataAbstract Data;
24 typedef typename Model::VectorXs VectorXs;
25 template <class PyClass>
26 40 void visit(PyClass& cl) const {
27
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 40 cl.def("calc",
28 static_cast<void (Model::*)(
29 const std::shared_ptr<Data>&, const Scalar,
30 const Eigen::Ref<const VectorXs>&) const>(&Model::calc),
31 bp::args("self", "data", "t", "u"),
32 "Compute the control value.\n\n"
33 ":param data: control-parametrization data\n"
34 ":param t: normalized time in [0, 1]\n"
35 ":param u: control parameters (dim control.nu)")
36
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 80 .def("calcDiff",
37 static_cast<void (Model::*)(
38 const std::shared_ptr<Data>&, const Scalar,
39 const Eigen::Ref<const VectorXs>&) const>(&Model::calcDiff),
40 bp::args("self", "data", "t", "u"),
41 "Compute the Jacobian of the control value with respect to the "
42 "control parameters.\n\n"
43 "It assumes that calc has been run first.\n\n"
44 ":param data: control-parametrization data\n"
45 ":param t: normalized time in [0, 1]\n"
46 ":param u: control parameters (dim control.nu)")
47
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 80 .def("createData", &Model::createData, bp::args("self"),
48 "Create the poly-one data.")
49
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 80 .def("params",
50 static_cast<void (Model::*)(
51 const std::shared_ptr<Data>&, const Scalar,
52 const Eigen::Ref<const VectorXs>&) const>(&Model::params),
53 bp::args("self", "data", "t", "w"),
54 "Compute the control parameters.\n\n"
55 ":param data: control-parametrization data\n"
56 ":param t: normalized time in [0, 1]\n"
57 ":param w: control value (dim control.nw)")
58
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 80 .def("convertBounds", &Model::convertBounds,
59 bp::args("self", "w_lb", "w_ub"),
60 "Convert the bounds on the control to bounds on the control "
61 "parameters.\n\n"
62 ":param w_lb: lower bounds on u (dim control.nw).\n"
63 ":param w_ub: upper bounds on u (dim control.nw).\n"
64 ":return p_lb, p_ub: lower and upper bounds on the control "
65 "parameters (dim control.nu).")
66
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 80 .def(
67 "multiplyByJacobian", &Model::multiplyByJacobian_J,
68 bp::args("self", "data", "A"),
69 "Compute the product between the given matrix A and the derivative "
70 "of the control with respect to the parameters.\n\n"
71 "It assumes that calc has been run first.\n"
72 ":param data: control-parametrization data\n"
73 ":param A: matrix to multiply (dim na x control.nw)\n"
74 ":return Product between A and the partial derivative of the value "
75 "function (dim na x control.nu)")
76
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 40 .def("multiplyJacobianTransposeBy",
77 &Model::multiplyJacobianTransposeBy_J,
78 bp::args("self", "data", "A"),
79 "Compute the product between the transpose of the derivative of "
80 "the control with respect to the parameters and a given matrix "
81 "A.\n\n"
82 "It assumes that calc has been run first.\n"
83 ":param data: control-parametrization data\n"
84 ":param A: matrix to multiply (dim control.nw x na)\n"
85 ":return Product between the partial derivative of the value "
86 "function (transposed) and A (dim control.nu x "
87 "na)");
88 40 }
89 };
90
91 template <typename Data>
92 struct ControlParametrizationDataPolyOneVisitor
93 : public bp::def_visitor<ControlParametrizationDataPolyOneVisitor<Data>> {
94 template <class PyClass>
95 40 void visit(PyClass& cl) const {
96
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 40 cl.add_property(
97 40 "c", bp::make_getter(&Data::c, bp::return_internal_reference<>()),
98 "polynomial coefficients of the linear control model that depends on "
99 "time");
100 40 }
101 };
102
103 #define CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYONE_PYTHON_BINDINGS( \
104 Scalar) \
105 typedef ControlParametrizationModelPolyOneTpl<Scalar> Model; \
106 typedef ControlParametrizationModelAbstractTpl<Scalar> ModelBase; \
107 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
108 bp::class_<Model, bp::bases<ModelBase>>( \
109 "ControlParametrizationModelPolyOne", \
110 "Linear polynomial control.\n\n" \
111 "This control is a linear function of time (normalized in [0,1]). The " \
112 "first half of the parameter vector contains the initial value of the " \
113 "differential control w, whereas the second half contains the value of " \
114 "w at t=0.5.", \
115 bp::init<std::size_t>( \
116 bp::args("self", "nw"), \
117 "Initialize the control dimensions.\n\n" \
118 ":param nw: dimension of differential control space")) \
119 .def(ControlParametrizationModelPolyOneVisitor<Model>()) \
120 .def(CastVisitor<Model>()) \
121 .def(PrintableVisitor<Model>()) \
122 .def(CopyableVisitor<Model>());
123
124 #define CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYONE_PYTHON_BINDINGS(Scalar) \
125 typedef ControlParametrizationDataPolyOneTpl<Scalar> Data; \
126 typedef ControlParametrizationDataAbstractTpl<Scalar> DataBase; \
127 typedef ControlParametrizationModelPolyOneTpl<Scalar> Model; \
128 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
129 bp::class_<Data, bp::bases<DataBase>>( \
130 "ControlParametrizationDataPolyOne", \
131 "Control-parametrization data for the linear polynomial control.", \
132 bp::init<Model*>(bp::args("self", "model"), \
133 "Create control-parametrization data.\n\n" \
134 ":param model: linear polynomial control model")) \
135 .def(ControlParametrizationDataPolyOneVisitor<Data>()) \
136 .def(CopyableVisitor<Data>());
137
138 10 void exposeControlParametrizationPolyOne() {
139
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 20 CROCODDYL_PYTHON_SCALARS(
140 CROCODDYL_CONTROL_PARAMETRIZATION_MODEL_POLYONE_PYTHON_BINDINGS)
141
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 20 CROCODDYL_PYTHON_SCALARS(
142 CROCODDYL_CONTROL_PARAMETRIZATION_DATA_POLYONE_PYTHON_BINDINGS)
143 10 }
144
145 } // namespace python
146 } // namespace crocoddyl
147