GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/integrator/rk4.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 80 80 100.0%
Branches: 57 114 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, IRI: CSIC-UPC,
5 // University of Trento, Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/integrator/rk4.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/core/integ-action-base.hpp"
14 #include "python/crocoddyl/utils/copyable.hpp"
15
16 #pragma GCC diagnostic push
17 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
18
19 namespace crocoddyl {
20 namespace python {
21
22 10 void exposeIntegratedActionRK4() {
23 10 bp::register_ptr_to_python<boost::shared_ptr<IntegratedActionModelRK4> >();
24
25
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 10 bp::class_<IntegratedActionModelRK4,
26 bp::bases<IntegratedActionModelAbstract, ActionModelAbstract> >(
27 "IntegratedActionModelRK4",
28 "RK4 integrator for differential action models.\n\n"
29 "This class implements an RK4 integrator\n"
30 "given a differential action model, i.e.:\n"
31 " [q+, v+] = State.integrate([q, v], dt / 6 (k0 + k1 + k2 + k3)) with\n"
32 "k0 = f(x, u)\n"
33 "k1 = f(x + dt / 2 * k0, u)\n"
34 "k2 = f(x + dt / 2 * k1, u)\n"
35 "k3 = f(x + dt * k2, u)",
36
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 10 bp::init<boost::shared_ptr<DifferentialActionModelAbstract>,
37 bp::optional<double, bool> >(
38 20 bp::args("self", "diffModel", "stepTime", "withCostResidual"),
39 "Initialize the RK4 integrator.\n\n"
40 ":param diffModel: differential action model\n"
41 ":param stepTime: step time (default 1e-3)\n"
42 ":param withCostResidual: includes the cost residuals and "
43 "derivatives (default True)."))
44
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 10 .def(bp::init<boost::shared_ptr<DifferentialActionModelAbstract>,
45 boost::shared_ptr<ControlParametrizationModelAbstract>,
46 bp::optional<double, bool> >(
47
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 20 bp::args("self", "diffModel", "control", "stepTime",
48 "withCostResidual"),
49 "Initialize the RK4 integrator.\n\n"
50 ":param diffModel: differential action model\n"
51 ":param control: the control parametrization\n"
52 ":param stepTime: step time (default 1e-3)\n"
53 ":param withCostResidual: includes the cost residuals and "
54 "derivatives (default True)."))
55 .def<void (IntegratedActionModelRK4::*)(
56 const boost::shared_ptr<ActionDataAbstract>&,
57 const Eigen::Ref<const Eigen::VectorXd>&,
58 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
59 "calc", &IntegratedActionModelRK4::calc,
60
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 20 bp::args("self", "data", "x", "u"),
61 "Compute the time-discrete evolution of a differential action "
62 "model.\n\n"
63 "It describes the time-discrete evolution of action model.\n"
64 ":param data: action data\n"
65 ":param x: state point (dim. state.nx)\n"
66 ":param u: control input (dim. nu)")
67 .def<void (IntegratedActionModelRK4::*)(
68 const boost::shared_ptr<ActionDataAbstract>&,
69
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
70
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 20 "calc", &ActionModelAbstract::calc, bp::args("self", "data", "x"))
71 .def<void (IntegratedActionModelRK4::*)(
72 const boost::shared_ptr<ActionDataAbstract>&,
73 const Eigen::Ref<const Eigen::VectorXd>&,
74
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
75 "calcDiff", &IntegratedActionModelRK4::calcDiff,
76
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 20 bp::args("self", "data", "x", "u"),
77 "Computes the derivatives of the integrated action model wrt state "
78 "and control. \n\n"
79 "This function builds a quadratic approximation of the\n"
80 "action model (i.e. dynamical system and cost function).\n"
81 "It assumes that calc has been run first.\n"
82 ":param data: action data\n"
83 ":param x: state point (dim. state.nx)\n"
84 ":param u: control input (dim. nu)")
85 .def<void (IntegratedActionModelRK4::*)(
86 const boost::shared_ptr<ActionDataAbstract>&,
87
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
88 "calcDiff", &ActionModelAbstract::calcDiff,
89
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 20 bp::args("self", "data", "x"))
90
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 20 .def("createData", &IntegratedActionModelRK4::createData,
91
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 20 bp::args("self"), "Create the RK4 integrator data.")
92
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 10 .def(CopyableVisitor<IntegratedActionModelRK4>());
93
94 10 bp::register_ptr_to_python<boost::shared_ptr<IntegratedActionDataRK4> >();
95
96
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 10 bp::class_<IntegratedActionDataRK4, bp::bases<IntegratedActionDataAbstract> >(
97 "IntegratedActionDataRK4", "RK4 integrator data.",
98
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 20 bp::init<IntegratedActionModelRK4*>(bp::args("self", "model"),
99 "Create RK4 integrator data.\n\n"
100 ":param model: RK4 integrator model"))
101
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 10 .add_property(
102 "differential",
103
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 10 bp::make_getter(&IntegratedActionDataRK4::differential,
104 10 bp::return_value_policy<bp::return_by_value>()),
105 "list of differential action data")
106
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 10 .add_property(
107 "control",
108
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 10 bp::make_getter(&IntegratedActionDataRK4::control,
109 10 bp::return_value_policy<bp::return_by_value>()),
110 "list of control parametrization data")
111
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 10 .add_property(
112 "integral",
113
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 10 bp::make_getter(&IntegratedActionDataRK4::integral,
114 10 bp::return_value_policy<bp::return_by_value>()),
115 "list of RK4 terms related to the cost")
116
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 10 .add_property("dx",
117
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 10 bp::make_getter(&IntegratedActionDataRK4::dx,
118 10 bp::return_internal_reference<>()),
119 "state rate.")
120
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 10 .add_property("ki",
121
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 10 bp::make_getter(&IntegratedActionDataRK4::ki,
122 10 bp::return_internal_reference<>()),
123 "list of RK4 terms related to system dynamics")
124
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 10 .add_property(
125 "y",
126
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 10 bp::make_getter(&IntegratedActionDataRK4::y,
127 10 bp::return_internal_reference<>()),
128 "list of states where f is evaluated in the RK4 integration")
129
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 10 .add_property("ws",
130
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 10 bp::make_getter(&IntegratedActionDataRK4::ws,
131 10 bp::return_internal_reference<>()),
132 "control inputs evaluated in the RK4 integration")
133
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 10 .add_property("dki_dx",
134
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 10 bp::make_getter(&IntegratedActionDataRK4::dki_dx,
135 10 bp::return_internal_reference<>()),
136 "list of partial derivatives of RK4 nodes with respect to "
137 "the state of the RK4 "
138 "integration. dki/dx")
139
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 10 .add_property("dki_du",
140
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 10 bp::make_getter(&IntegratedActionDataRK4::dki_du,
141 10 bp::return_internal_reference<>()),
142 "list of partial derivatives of RK4 nodes with respect to "
143 "the control parameters of the RK4 "
144 "integration. dki/du")
145
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 10 .add_property("dyi_dx",
146
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 10 bp::make_getter(&IntegratedActionDataRK4::dyi_dx,
147 10 bp::return_internal_reference<>()),
148 "list of partial derivatives of RK4 dynamics with respect "
149 "to the state of the RK4 integrator. dyi/dx")
150
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 10 .add_property("dyi_du",
151
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 10 bp::make_getter(&IntegratedActionDataRK4::dyi_du,
152 10 bp::return_internal_reference<>()),
153 "list of partial derivatives of RK4 dynamics with respect "
154 "to the control parameters of the "
155 "RK4 integrator. dyi/du")
156
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 10 .add_property("dli_dx",
157
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 10 bp::make_getter(&IntegratedActionDataRK4::dli_dx,
158 10 bp::return_internal_reference<>()),
159 "list of partial derivatives of the cost with respect to "
160 "the state of the RK4 "
161 "integration. dli_dx")
162
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 10 .add_property("dli_du",
163
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 10 bp::make_getter(&IntegratedActionDataRK4::dli_du,
164 10 bp::return_internal_reference<>()),
165 "list of partial derivatives of the cost with respect to "
166 "the control input of the RK4 "
167 "integration. dli_du")
168
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 10 .add_property("ddli_ddx",
169
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_ddx,
170 10 bp::return_internal_reference<>()),
171 "list of second partial derivatives of the cost with "
172 "respect to the state of the RK4 "
173 "integration. ddli_ddx")
174
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 10 .add_property("ddli_ddw",
175
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_ddw,
176 10 bp::return_internal_reference<>()),
177 "list of second partial derivatives of the cost with "
178 "respect to the control parameters of "
179 "the RK4 integration. ddli_ddw")
180
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 10 .add_property("ddli_ddu",
181
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_ddu,
182 10 bp::return_internal_reference<>()),
183 "list of second partial derivatives of the cost with "
184 "respect to the control input of the RK4 "
185 "integration. ddli_ddu")
186
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 10 .add_property("ddli_dxdw",
187
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_dxdw,
188 10 bp::return_internal_reference<>()),
189 "list of second partial derivatives of the cost with "
190 "respect to the state and control parameters of "
191 "the RK4 integration. ddli_dxdw")
192
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 10 .add_property("ddli_dxdu",
193
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_dxdu,
194 10 bp::return_internal_reference<>()),
195 "list of second partial derivatives of the cost with "
196 "respect to the state and control input "
197 "of the RK4 integration. ddli_dxdu")
198
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 10 .add_property("ddli_dwdu",
199
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 10 bp::make_getter(&IntegratedActionDataRK4::ddli_dwdu,
200 10 bp::return_internal_reference<>()),
201 "list of second partial derivatives of the cost with "
202 "respect to the control parameters and "
203 "inputs control of the RK4 integration. ddli_dxdu")
204
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 10 .def(CopyableVisitor<IntegratedActionDataRK4>());
205 10 }
206
207 } // namespace python
208 } // namespace crocoddyl
209
210 #pragma GCC diagnostic pop
211