GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/residual-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 61 65 93.8%
Branches: 53 106 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "python/crocoddyl/core/residual-base.hpp"
10
11 #include "python/crocoddyl/utils/copyable.hpp"
12 #include "python/crocoddyl/utils/printable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeResidualAbstract() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualModelAbstract> >();
19
20
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 10 bp::class_<ResidualModelAbstract_wrap, boost::noncopyable>(
21 "ResidualModelAbstract",
22 "Abstract class for residual models.\n\n"
23 "A residual model defines a vector function r(x,u) in R^nr, where nr "
24 "describes its dimension in the\n"
25 "the Euclidean space. For each residual model, we need to provide ways "
26 "of computing the residual\n"
27 "vector and its Jacobians. These computations are mainly carried out "
28 "inside calc() and calcDiff(),\n"
29 "respectively.",
30
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 10 bp::init<boost::shared_ptr<StateAbstract>, std::size_t, std::size_t,
31 bp::optional<bool, bool, bool> >(
32 20 bp::args("self", "state", "nr", "nu", "q_dependent", "v_dependent",
33 "u_dependent"),
34 "Initialize the residual model.\n\n"
35 ":param state: state description,\n"
36 ":param nr: dimension of the residual vector\n"
37 ":param nu: dimension of control vector (default state.nv)\n"
38 ":param q_dependent: define if the residual function depends on q "
39 "(default true)\n"
40 ":param v_dependent: define if the residual function depends on v "
41 "(default true)\n"
42 ":param u_dependent: define if the residual function depends on u "
43 "(default true)"))
44
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t,
45 bp::optional<bool, bool, bool> >(
46
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 20 bp::args("self", "state", "nr", "q_dependent", "v_dependent",
47 "u_dependent"),
48 "Initialize the cost model.\n\n"
49 ":param state: state description\n"
50 ":param nr: dimension of the residual vector\n"
51 ":param q_dependent: define if the residual function depends on q "
52 "(default true)\n"
53 ":param v_dependent: define if the residual function depends on v "
54 "(default true)\n"
55 ":param u_dependent: define if the residual function depends on u "
56 "(default true)"))
57
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 10 .def("calc", pure_virtual(&ResidualModelAbstract_wrap::calc),
58
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 20 bp::args("self", "data", "x", "u"),
59 "Compute the residual vector.\n\n"
60 ":param data: residual data\n"
61 ":param x: state point (dim. state.nx)\n"
62 ":param u: control input (dim. nu)")
63 .def<void (ResidualModelAbstract::*)(
64 const boost::shared_ptr<ResidualDataAbstract>&,
65 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
66
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"),
67 "Compute the residual vector for nodes that depends only on the "
68 "state.\n\n"
69 "It updates the residual vector based on the state only.\n"
70 "This function is used in the terminal nodes of an optimal control "
71 "problem.\n"
72 ":param data: residual data\n"
73 ":param x: state point (dim. state.nx)")
74
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 20 .def("calcDiff", pure_virtual(&ResidualModelAbstract_wrap::calcDiff),
75
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 20 bp::args("self", "data", "x", "u"),
76 "Compute the Jacobians of the residual function.\n\n"
77 ":param data: residual data\n"
78 ":param x: state point (dim. state.nx)\n"
79 ":param u: control input (dim. nu)")
80 .def<void (ResidualModelAbstract::*)(
81 const boost::shared_ptr<ResidualDataAbstract>&,
82 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
83 "calcDiff", &ResidualModelAbstract::calcDiff,
84
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 20 bp::args("self", "data", "x"),
85 "Compute the Jacobian of the residual functions with respect to the "
86 "state only.\n\n"
87 "It updates the Jacobian of the residual function based on the state "
88 "only.\n"
89 "This function is used in the terminal nodes of an optimal control "
90 "problem.\n"
91 ":param data: residual data\n"
92 ":param x: state point (dim. state.nx)")
93
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 10 .def("createData", &ResidualModelAbstract_wrap::createData,
94
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 20 &ResidualModelAbstract_wrap::default_createData, bp::args("self"),
95 "Create the residual data.\n\n"
96 "Each residual model might has its own data that needs to be "
97 "allocated.")
98 20 .def("calcCostDiff", &ResidualModelAbstract_wrap::calcCostDiff,
99
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 10 &ResidualModelAbstract_wrap::default_calcCostDiff,
100
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 20 bp::args("self", "cdata", "rdata", "adata", "update_u"),
101 "Compute the derivative of the cost function.\n\n"
102 "This function assumes that the derivatives of the activation and "
103 "residual are\n"
104 "computed via calcDiff functions.\n"
105 ":param cdata: cost data\n"
106 ":param rdata: residual data\n"
107 ":param adata: activation data\n"
108 ":param update_u: update the derivative of the cost function w.r.t. "
109 "to the control if True.")
110
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 10 .def("calcCostDiff",
111 &ResidualModelAbstract_wrap::default_calcCostDiff_noupdate_u)
112
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 10 .add_property(
113 "state",
114
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 10 bp::make_function(&ResidualModelAbstract_wrap::get_state,
115 10 bp::return_value_policy<bp::return_by_value>()),
116 "state")
117
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 10 .add_property("nr",
118
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 20 bp::make_function(&ResidualModelAbstract_wrap::get_nr),
119 "dimension of residual vector")
120
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 10 .add_property("nu",
121
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 20 bp::make_function(&ResidualModelAbstract_wrap::get_nu),
122 "dimension of control vector")
123
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 10 .add_property(
124 "q_dependent",
125
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 20 bp::make_function(&ResidualModelAbstract_wrap::get_q_dependent),
126 "flag that indicates if the residual function depends on q")
127
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 10 .add_property(
128 "v_dependent",
129
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 20 bp::make_function(&ResidualModelAbstract_wrap::get_v_dependent),
130 "flag that indicates if the residual function depends on v")
131
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 10 .add_property(
132 "u_dependent",
133
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 20 bp::make_function(&ResidualModelAbstract_wrap::get_u_dependent),
134 "flag that indicates if the residual function depends on u")
135
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 10 .def(CopyableVisitor<ResidualModelAbstract_wrap>())
136
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 10 .def(PrintableVisitor<ResidualModelAbstract>());
137
138 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualDataAbstract> >();
139
140
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 10 bp::class_<ResidualDataAbstract>(
141 "ResidualDataAbstract",
142 "Abstract class for residual data.\n\n"
143 "In crocoddyl, a residual data contains all the required information for "
144 "processing an\n"
145 "user-defined residual models. The residual data typically is allocated "
146 "once and containts\n"
147 "the residual vector and its Jacobians.",
148
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 10 bp::init<ResidualModelAbstract*, DataCollectorAbstract*>(
149 10 bp::args("self", "model", "data"),
150 "Create common data shared between residual models.\n\n"
151 ":param model: residual model\n"
152 ✗ ":param data: shared data")[bp::with_custodian_and_ward<
153
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 20 1, 2, bp::with_custodian_and_ward<1, 3> >()])
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 10 .add_property("shared",
155
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 10 bp::make_getter(&ResidualDataAbstract::shared,
156 10 bp::return_internal_reference<>()),
157 "shared data")
158
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 10 .add_property("r",
159
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 10 bp::make_getter(&ResidualDataAbstract::r,
160 ✗ bp::return_internal_reference<>()),
161
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 20 bp::make_setter(&ResidualDataAbstract::r),
162 "residual vector")
163
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 10 .add_property("Rx",
164
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 10 bp::make_getter(&ResidualDataAbstract::Rx,
165 ✗ bp::return_internal_reference<>()),
166
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 20 bp::make_setter(&ResidualDataAbstract::Rx),
167 "Jacobian of the residual")
168
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 10 .add_property("Ru",
169
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 10 bp::make_getter(&ResidualDataAbstract::Ru,
170 ✗ bp::return_internal_reference<>()),
171
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 20 bp::make_setter(&ResidualDataAbstract::Ru),
172 "Jacobian of the residual")
173
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 10 .add_property("Arr_Rx",
174
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 10 bp::make_getter(&ResidualDataAbstract::Arr_Rx,
175 10 bp::return_internal_reference<>()),
176 "Intermediate product of Arr (2nd deriv of Activation) "
177 "with Rx (deriv of residue)")
178
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 10 .add_property("Arr_Ru",
179
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 10 bp::make_getter(&ResidualDataAbstract::Arr_Ru,
180 10 bp::return_internal_reference<>()),
181 "Intermediate product of Arr (2nd deriv of Activation) "
182 "with Ru (deriv of residue)")
183
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 10 .def(CopyableVisitor<ResidualDataAbstract>());
184 10 }
185
186 } // namespace python
187 } // namespace crocoddyl
188