GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/actuation/squashing-base.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
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Branches: 47 94 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, 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 namespace crocoddyl {
13 namespace python {
14
15 template <typename Model>
16 struct SquashingModelAbstractVisitor
17 : public bp::def_visitor<SquashingModelAbstractVisitor<Model>> {
18 template <class PyClass>
19 40 void visit(PyClass& cl) const {
20
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 40 cl.def("calc", pure_virtual(&Model::calc), bp::args("self", "data", "s"),
21 "Compute the squashing value for a given value of u, "
22 "component-wise. \n\n"
23 ":param data: squashing data\n"
24 ":param s: squashing input")
25
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 80 .def("calcDiff", pure_virtual(&Model::calcDiff),
26 bp::args("self", "data", "s"),
27 "Compute the derivative of the squashing function.\n\n"
28 "It assumes that calc has been run first.\n"
29 ":param data: squashing data\n"
30 ":param u: squashing input")
31
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 80 .def("createData", &Model::createData, bp::args("self"),
32 "Create the squashing data.\n\n")
33
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 40 .add_property(
34 "ns",
35 bp::make_function(&Model::get_ns,
36 40 bp::return_value_policy<bp::return_by_value>()),
37 "dimension of the squashing vector")
38
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 80 .add_property(
39 "s_lb",
40 bp::make_function(&Model::get_s_lb,
41 40 bp::return_value_policy<bp::return_by_value>()),
42 bp::make_function(&Model::set_s_lb),
43 "lower bound for the active zone of the squashing function")
44
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 80 .add_property(
45 "s_ub",
46 bp::make_function(&Model::get_s_ub,
47 40 bp::return_value_policy<bp::return_by_value>()),
48 bp::make_function(&Model::set_s_ub),
49 "upper bound for the active zone of the squashing function");
50 40 }
51 };
52
53 template <typename Data>
54 struct SquashingDataAbstractVisitor
55 : public bp::def_visitor<SquashingDataAbstractVisitor<Data>> {
56 template <class PyClass>
57 40 void visit(PyClass& cl) const {
58
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 40 cl.add_property(
59 40 "u", bp::make_getter(&Data::u, bp::return_internal_reference<>()),
60 bp::make_setter(&Data::u), "squashing-output")
61
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 80 .add_property(
62 "du_ds",
63 40 bp::make_getter(&Data::du_ds, bp::return_internal_reference<>()),
64 bp::make_setter(&Data::du_ds),
65 "Jacobian of the squashing function");
66 40 }
67 };
68
69 #define CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS(Scalar) \
70 typedef SquashingModelAbstractTpl<Scalar> Model; \
71 typedef SquashingModelAbstractTpl_wrap<Scalar> Model_wrap; \
72 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
73 bp::class_<Model_wrap, boost::noncopyable>( \
74 "SquashingModelAbstract", \
75 "Abstract class for squashing functions.\n\n" \
76 "A squashing function is any sigmoid function that maps from R to a " \
77 "bounded domain Its input can be any value and its output will be a " \
78 "value between a lower bound and an upper bound. The computation of " \
79 "the output value is done using calc() while its derivative is " \
80 "computed using calcDiff(), respectively.", \
81 bp::init<std::size_t>(bp::args("self", "ns"), \
82 "Initialize the squashing model.\n\n" \
83 ":param ns: dimension of the input vector")) \
84 .def(SquashingModelAbstractVisitor<Model_wrap>()) \
85 .def(CopyableVisitor<Model_wrap>());
86
87 #define CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS(Scalar) \
88 typedef SquashingDataAbstractTpl<Scalar> Data; \
89 typedef SquashingModelAbstractTpl<Scalar> Model; \
90 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
91 bp::class_<Data>( \
92 "SquashingDataAbstract", \
93 "Abstract class for squashing datas.\n\n" \
94 "In crocoddyl, an squashing data contains all the required information " \
95 "for processing a user-defined squashing model. The squashing data is " \
96 "typically allocated once per running via model.createData().", \
97 bp::init<Model*>( \
98 bp::args("self", "model"), \
99 "Create common data shared between squashing models.\n\n" \
100 "The squashing data uses the model in order to first process it.\n" \
101 ":param model: squashing model")) \
102 .def(SquashingDataAbstractVisitor<Data>()) \
103 .def(CopyableVisitor<Data>());
104
105 10 void exposeSquashingAbstract() {
106
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_SQUASHING_MODEL_ABSTRACT_PYTHON_BINDINGS)
107
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 20 CROCODDYL_PYTHON_SCALARS(CROCODDYL_SQUASHING_DATA_ABSTRACT_PYTHON_BINDINGS)
108 10 }
109
110 } // namespace python
111 } // namespace crocoddyl
112