GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation/squashing-base.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 32 36 88.9%
Branches: 28 56 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "python/crocoddyl/core/actuation/squashing-base.hpp"
11
12 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeSquashingAbstract() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<SquashingModelAbstract> >();
19
20
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<SquashingModelAbstract_wrap, boost::noncopyable>(
21 "SquashingModelAbstract",
22 "Abstract class for squashing functions. \n\n"
23 "A squashing function is any sigmoid function that maps from R to a "
24 "bounded domain\n"
25 "Its input can be any value and its output will be a value between a "
26 "lower bound and an upper bound.\n"
27 "The computation of the output value is done using calc() while its "
28 "derivative is computed using calcDiff(), "
29 "respectively.",
30
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 bp::init<std::size_t>(bp::args("self", "ns"),
31 "Initialize the squashing model. \n\n"
32 ":param ns: dimension of the input vector"))
33
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 10 .def("calc", pure_virtual(&SquashingModelAbstract_wrap::calc),
34
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "s"),
35 "Compute the squashing value for a given value of u, "
36 "component-wise. \n\n"
37 ":param data: squashing data\n"
38 ":param s: squashing input")
39
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 10 .def("calcDiff", pure_virtual(&SquashingModelAbstract_wrap::calcDiff),
40
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self", "data", "s"),
41 "Compute the derivative of the squashing function.\n\n"
42 "It assumes that calc has been run first.\n"
43 ":param data: squashing data\n"
44 ":param u: squashing input")
45
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def("createData", &SquashingModelAbstract_wrap::createData,
46
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::args("self"), "Create the squashing data.\n\n")
47
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
48 "ns",
49
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&SquashingModelAbstract_wrap::get_ns,
50 10 bp::return_value_policy<bp::return_by_value>()),
51 "dimension of the squashing vector")
52
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
53 "s_lb",
54
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&SquashingModelAbstract_wrap::get_s_lb,
55 ✗ bp::return_value_policy<bp::return_by_value>()),
56
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_function(&SquashingModelAbstract_wrap::set_s_lb),
57 "lower bound for the active zone of the squashing function")
58
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property(
59 "s_ub",
60
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_function(&SquashingModelAbstract_wrap::get_s_ub,
61 ✗ bp::return_value_policy<bp::return_by_value>()),
62
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_function(&SquashingModelAbstract_wrap::set_s_ub),
63 "upper bound for the active zone of the squashing function")
64
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<SquashingModelAbstract_wrap>());
65
66 10 bp::register_ptr_to_python<boost::shared_ptr<SquashingDataAbstract> >();
67
68
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::class_<SquashingDataAbstract>(
69 "SquashingDataAbstract",
70 "Abstract class for squashing datas. \n\n"
71 "In crocoddyl, an squashing data contains all the required information "
72 "for processing a \n"
73 "user-defined squashing model. The squashing data is typically allocated "
74 "once per running.\n"
75 "model.createData().",
76
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::init<SquashingModelAbstract*>(
77 20 bp::args("self", "model"),
78 "Create common data shared between squashing models. \n\n"
79 "The squashing data uses the model in order to first process it. \n"
80 ":param model: squashing model"))
81
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("u",
82
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&SquashingDataAbstract::u,
83 ✗ bp::return_internal_reference<>()),
84
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&SquashingDataAbstract::u),
85 "squashing-output")
86
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .add_property("du_ds",
87
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 bp::make_getter(&SquashingDataAbstract::du_ds,
88 ✗ bp::return_internal_reference<>()),
89
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 bp::make_setter(&SquashingDataAbstract::du_ds),
90 "Jacobian of the squashing function")
91
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 10 .def(CopyableVisitor<SquashingDataAbstract>());
92 10 }
93
94 } // namespace python
95 } // namespace crocoddyl
96