GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/optctrl/shooting.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 49 49 100.0%
Branches: 48 96 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
5 // University of Oxford, Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/optctrl/shooting.hpp"
11
12 #include <memory>
13
14 #include "python/crocoddyl/core/core.hpp"
15 #include "python/crocoddyl/utils/copyable.hpp"
16 #include "python/crocoddyl/utils/deprecate.hpp"
17 #include "python/crocoddyl/utils/printable.hpp"
18
19 namespace crocoddyl {
20 namespace python {
21
22 10 void exposeShootingProblem() {
23 // TODO: Remove once the deprecated update call has been removed in a future
24 // release
25 #pragma GCC diagnostic push
26 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
27
28 10 bp::register_ptr_to_python<boost::shared_ptr<ShootingProblem> >();
29
30
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 10 bp::class_<ShootingProblem>(
31 "ShootingProblem",
32 "Declare a shooting problem.\n\n"
33 "A shooting problem declares the initial state, a set of running action "
34 "models and a\n"
35 "terminal action model. It has three main methods - calc, calcDiff and "
36 "rollout. The\n"
37 "first computes the set of next states and cost values per each action "
38 "model. calcDiff\n"
39 "updates the derivatives of all action models. The last rollouts the "
40 "stacks of actions\n"
41 "models.",
42
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 10 bp::init<Eigen::VectorXd,
43 std::vector<boost::shared_ptr<ActionModelAbstract> >,
44 boost::shared_ptr<ActionModelAbstract> >(
45 20 bp::args("self", "x0", "runningModels", "terminalModel"),
46 "Initialize the shooting problem and allocate its data.\n\n"
47 ":param x0: initial state\n"
48 ":param runningModels: running action models (size T)\n"
49 ":param terminalModel: terminal action model"))
50
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 10 .def(bp::init<Eigen::VectorXd,
51 std::vector<boost::shared_ptr<ActionModelAbstract> >,
52 boost::shared_ptr<ActionModelAbstract>,
53 std::vector<boost::shared_ptr<ActionDataAbstract> >,
54 boost::shared_ptr<ActionDataAbstract> >(
55
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 20 bp::args("self", "x0", "runningModels", "terminalModel",
56 "runningDatas", "terminalData"),
57 "Initialize the shooting problem (models and datas).\n\n"
58 ":param x0: initial state\n"
59 ":param runningModels: running action models (size T)\n"
60 ":param terminalModel: terminal action model\n"
61 ":param runningDatas: running action datas (size T)\n"
62 ":param terminalData: terminal action data"))
63
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 20 .def("calc", &ShootingProblem::calc, bp::args("self", "xs", "us"),
64 "Compute the cost and the next states.\n\n"
65 "For each node k, and along the state xs and control us "
66 "trajectories, it computes the next state x_{k+1}\n"
67 " and cost l_k.\n"
68 ":param xs: time-discrete state trajectory (size T+1)\n"
69 ":param us: time-discrete control sequence (size T)\n"
70 ":returns the total cost value")
71
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 20 .def("calcDiff", &ShootingProblem::calcDiff, bp::args("self", "xs", "us"),
72 "Compute the derivatives of the cost and dynamics.\n\n"
73 "For each node k, and along the state x_s and control u_s "
74 "trajectories, it computes the derivatives of\n"
75 "the cost (lx, lu, lxx, lxu, luu) and dynamics (fx, fu).\n"
76 ":param xs: time-discrete state trajectory (size T+1)\n"
77 ":param us: time-discrete control sequence (size T)\n"
78 ":returns the total cost value")
79
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 20 .def("rollout", &ShootingProblem::rollout_us, bp::args("self", "us"),
80 "Integrate the dynamics given a control sequence.\n\n"
81 "Rollout the dynamics give a sequence of control commands\n"
82 ":param us: time-discrete control sequence (size T)")
83
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 10 .def("quasiStatic", &ShootingProblem::quasiStatic_xs,
84
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 20 bp::args("self", "xs"),
85 "Compute the quasi static commands given a state trajectory.\n\n"
86 "Generally speaking, it uses Newton-Raphson method for computing "
87 "the quasi static commands.\n"
88 ":param xs: time-discrete state trajectory (size T)")
89 .def<void (ShootingProblem::*)(boost::shared_ptr<ActionModelAbstract>,
90 20 boost::shared_ptr<ActionDataAbstract>)>(
91 "circularAppend", &ShootingProblem::circularAppend,
92
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 20 bp::args("self", "model", "data"),
93 "Circular append the model and data onto the end running node.\n\n"
94 "Once we update the end running node, the first running mode is "
95 "removed as in a circular buffer.\n"
96 ":param model: new model\n"
97 ":param data: new data")
98
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 10 .def<void (ShootingProblem::*)(boost::shared_ptr<ActionModelAbstract>)>(
99 "circularAppend", &ShootingProblem::circularAppend,
100
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 20 bp::args("self", "model"),
101 "Circular append the model and data onto the end running node.\n\n"
102 "Once we update the end running node, the first running mode is "
103 "removed as in a circular buffer.\n"
104 "Note that this method allocates new data for the end running node.\n"
105 ":param model: new model")
106
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 20 .def("updateNode", &ShootingProblem::updateNode,
107
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 20 bp::args("self", "i", "model", "data"),
108 "Update the model and data for a specific node.\n\n"
109 ":param i: index of the node (0 <= i <= T + 1)\n"
110 ":param model: new model\n"
111 ":param data: new data")
112
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 10 .def("updateModel", &ShootingProblem::updateModel,
113
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 20 bp::args("self", "i", "model"),
114 "Update a model and allocated new data for a specific node.\n\n"
115 ":param i: index of the node (0 <= i <= T + 1)\n"
116 ":param model: new model")
117
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 20 .add_property("T", bp::make_function(&ShootingProblem::get_T),
118 "number of running nodes")
119
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 10 .add_property("x0",
120
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 10 bp::make_function(&ShootingProblem::get_x0,
121 10 bp::return_internal_reference<>()),
122 &ShootingProblem::set_x0, "initial state")
123
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 10 .add_property(
124 "runningModels",
125
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 10 bp::make_function(&ShootingProblem::get_runningModels,
126 10 bp::return_value_policy<bp::return_by_value>()),
127 &ShootingProblem::set_runningModels, "running models")
128
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 10 .add_property(
129 "terminalModel",
130
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 10 bp::make_function(&ShootingProblem::get_terminalModel,
131 10 bp::return_value_policy<bp::return_by_value>()),
132 &ShootingProblem::set_terminalModel, "terminal model")
133
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 10 .add_property(
134 "runningDatas",
135
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 10 bp::make_function(&ShootingProblem::get_runningDatas,
136 10 bp::return_value_policy<bp::return_by_value>()),
137 "running datas")
138
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 10 .add_property(
139 "terminalData",
140
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 10 bp::make_function(&ShootingProblem::get_terminalData,
141 10 bp::return_value_policy<bp::return_by_value>()),
142 "terminal data")
143
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 10 .add_property("nthreads",
144
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 10 bp::make_function(&ShootingProblem::get_nthreads),
145
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 20 bp::make_function(&ShootingProblem::set_nthreads),
146 "number of threads launch by the multi-threading support "
147 "(if you set nthreads <= 1, then "
148 "nthreads=CROCODDYL_WITH_NTHREADS)")
149
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 20 .add_property("nx", bp::make_function(&ShootingProblem::get_nx),
150 "dimension of state tuple")
151
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 20 .add_property("ndx", bp::make_function(&ShootingProblem::get_ndx),
152 "dimension of the tangent space of the state manifold")
153
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 10 .add_property(
154 "nu_max",
155
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 10 bp::make_function(&ShootingProblem::get_nu_max,
156
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 20 deprecated<>("Compute yourself the maximum "
157 "dimension of the control vector")),
158 "dimension of the maximum control vector")
159
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 10 .add_property("is_updated",
160
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 20 bp::make_function(&ShootingProblem::is_updated),
161 "Returns True if the shooting problem has been updated, "
162 "otherwise False")
163
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 10 .def(CopyableVisitor<ShootingProblem>())
164
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 10 .def(PrintableVisitor<ShootingProblem>());
165
166 #pragma GCC diagnostic pop
167 10 }
168
169 } // namespace python
170 } // namespace crocoddyl
171