GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/controls/poly-two-rk.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 29 29 100.0%
Branches: 22 44 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, 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-two-rk.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 10 void exposeControlParametrizationPolyTwoRK() {
20 bp::register_ptr_to_python<
21 10 boost::shared_ptr<ControlParametrizationModelPolyTwoRK> >();
22
23
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 10 bp::class_<ControlParametrizationModelPolyTwoRK,
24 bp::bases<ControlParametrizationModelAbstract> >(
25 "ControlParametrizationModelPolyTwoRK",
26 "Second-order polynomial control for RK integrators.\n\n"
27 "This control is a quadratic function of time (normalized in [0,1]).\n"
28 "It comes in two versions, one specialized for RK3 integration, another "
29 "for RK4 integration."
30 "The first third of the parameter vector contains the initial value of "
31 "the differential control w,\n"
32 "the second third contains the value of w at t=0.5 (for RK4) or 1/3 (for "
33 "RK3), and the last third is the final\n"
34 "value\n of w at time t=1 (for RK4) or 2/3 (for RK3).",
35
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 10 bp::init<std::size_t, RKType>(
36 20 bp::args("self", "nw", "rktype"),
37 "Initialize the control dimensions.\n\n"
38 ":param nw: dimension of differential control space\n"
39 ":param rktype: type of RK parametrization"))
40 .def<void (ControlParametrizationModelPolyTwoRK::*)(
41 const boost::shared_ptr<ControlParametrizationDataAbstract>&, double,
42
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 10 const Eigen::Ref<const Eigen::VectorXd>&) const>(
43 "calc", &ControlParametrizationModelPolyTwoRK::calc,
44
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 20 bp::args("self", "data", "t", "u"),
45 "Compute the control value.\n\n"
46 ":param data: poly-two-rk data\n"
47 ":param t: normalized time in [0, 1]\n"
48 ":param u: control parameters (dim control.nu)")
49 .def<void (ControlParametrizationModelPolyTwoRK::*)(
50 const boost::shared_ptr<ControlParametrizationDataAbstract>&, double,
51
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 10 const Eigen::Ref<const Eigen::VectorXd>&) const>(
52 "calcDiff", &ControlParametrizationModelPolyTwoRK::calcDiff,
53
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 20 bp::args("self", "data", "t", "u"),
54 "Compute the Jacobian of the control value with respect to the "
55 "control parameters.\n"
56 "It assumes that calc has been run first.\n\n"
57 ":param data: poly-two-rk data\n"
58 ":param t: normalized time in [0, 1]\n"
59 ":param u: control parameters (dim control.nu)")
60
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 10 .def("createData", &ControlParametrizationModelPolyTwoRK::createData,
61
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 20 bp::args("self"), "Create the poly-two-rk data.")
62 .def<void (ControlParametrizationModelPolyTwoRK::*)(
63 const boost::shared_ptr<ControlParametrizationDataAbstract>&, double,
64
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 10 const Eigen::Ref<const Eigen::VectorXd>&) const>(
65 "params", &ControlParametrizationModelPolyTwoRK::params,
66
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 20 bp::args("self", "data", "t", "w"),
67 "Compute the control parameters.\n\n"
68 ":param data: poly-two-rk data\n"
69 ":param t: normalized time in [0, 1]\n"
70 ":param w: control value (dim control.nw)")
71
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 10 .def("convertBounds",
72 &ControlParametrizationModelPolyTwoRK::convertBounds,
73
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 20 bp::args("self", "w_lb", "w_ub"),
74 "Convert the bounds on the control to bounds on the control "
75 "parameters.\n\n"
76 ":param w_lb: lower bounds on w (dim control.nw)\n"
77 ":param w_ub: upper bounds on w (dim control.nw)\n"
78 ":return u_lb, u_ub: lower and upper bounds on the control "
79 "parameters (dim control.nu)")
80
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 10 .def("multiplyByJacobian",
81 &ControlParametrizationModelPolyTwoRK::multiplyByJacobian_J,
82
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 20 bp::args("self", "data", "A"),
83 "Compute the product between the given matrix A and the derivative "
84 "of the control with respect to the "
85 "parameters.\n\n"
86 "It assumes that calc has been run first.\n"
87 ":param data: poly-two-rk data\n"
88 ":param A: matrix to multiply (dim na x control.nw)\n"
89 ":return Product between A and the partial derivative of the "
90 "control (dim na x control.nu)")
91
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 10 .def("multiplyJacobianTransposeBy",
92 &ControlParametrizationModelPolyTwoRK::multiplyJacobianTransposeBy_J,
93
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 20 bp::args("self", "data", "A"),
94 "Compute the product between the transpose of the derivative of the "
95 "control with respect to the parameters\n"
96 "and a given matrix A.\n\n"
97 "It assumes that calc has been run first.\n"
98 ":param data: poly-two-rk data\n"
99 ":param A: matrix to multiply (dim control.nw x na)\n"
100 ":return Product between the partial derivative of the control "
101 "(transposed) and A (dim control.nu x "
102 "na)")
103
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 10 .def(CopyableVisitor<ControlParametrizationModelPolyTwoRK>());
104
105 boost::python::register_ptr_to_python<
106 10 boost::shared_ptr<ControlParametrizationDataPolyTwoRK> >();
107
108
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 10 bp::class_<ControlParametrizationDataPolyTwoRK,
109 bp::bases<ControlParametrizationDataAbstract> >(
110 "ControlParametrizationDataPolyTwoRK",
111 "Control-parametrization data for the second-order polynomial control.",
112
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 10 bp::init<ControlParametrizationModelPolyTwoRK*>(
113 20 bp::args("self", "model"),
114 "Create control-parametrization data.\n\n"
115 ":param model: second-order polynomial control model"))
116
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 10 .add_property("c",
117
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 10 bp::make_getter(&ControlParametrizationDataPolyTwoRK::c,
118 10 bp::return_internal_reference<>()),
119 "polynomial coefficients of the second-order control model")
120
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 10 .def(CopyableVisitor<ControlParametrizationDataPolyTwoRK>());
121 10 }
122
123 } // namespace python
124 } // namespace crocoddyl
125