GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/core/state-base.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
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Branches: 49 98 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
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/state-base.hpp"
11
12 #include "python/crocoddyl/core/core.hpp"
13 #include "python/crocoddyl/utils/copyable.hpp"
14
15 namespace crocoddyl {
16 namespace python {
17
18 10 void exposeStateAbstract() {
19 10 bp::register_ptr_to_python<std::shared_ptr<StateAbstract> >();
20
21 20 bp::enum_<Jcomponent>("Jcomponent")
22
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 10 .value("both", both)
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 10 .value("first", first)
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 10 .export_values()
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 10 .value("second", second);
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27 20 bp::enum_<AssignmentOp>("AssignmentOp")
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 10 .value("setto", setto)
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 10 .value("addto", addto)
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 10 .value("rmfrom", rmfrom)
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 10 .export_values();
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33
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 10 bp::class_<StateAbstract_wrap, boost::noncopyable>(
34 "StateAbstract",
35 "Abstract class for the state representation.\n\n"
36 "A state is represented by its operators: difference, integrates and "
37 "their derivatives.\n"
38 "The difference operator returns the value of x1 [-] x0 operation. "
39 "Instead the integrate\n"
40 "operator returns the value of x [+] dx. These operators are used to "
41 "compared two points\n"
42 "on the state manifold M or to advance the state given a tangential "
43 "velocity (Tx M).\n"
44 "Therefore the points x, x0 and x1 belong to the manifold M; and dx or "
45 "x1 [-] x0 lie\n"
46 "on its tangential space.",
47
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 10 bp::init<std::size_t, std::size_t>(
48 20 bp::args("self", "nx", "ndx"),
49 "Initialize the state dimensions.\n\n"
50 ":param nx: dimension of state configuration tuple\n"
51 ":param ndx: dimension of state tangent vector"))
52
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 20 .def("zero", pure_virtual(&StateAbstract_wrap::zero), bp::args("self"),
53 "Generate a zero reference state.\n\n"
54 ":return zero reference state")
55
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 20 .def("rand", pure_virtual(&StateAbstract_wrap::rand), bp::args("self"),
56 "Generate a random reference state.\n\n"
57 ":return random reference state")
58
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 10 .def("diff", pure_virtual(&StateAbstract_wrap::diff_wrap),
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 20 bp::args("self", "x0", "x1"),
60 "Compute the state manifold differentiation.\n\n"
61 "It returns the value of x1 [-] x0 operation. Note tha x0 and x1 "
62 "are points in the state\n"
63 "manifold (in M). Instead the operator result lies in the "
64 "tangent-space of M.\n"
65 ":param x0: previous state point (dim state.nx).\n"
66 ":param x1: current state point (dim state.nx).\n"
67 ":return x1 [-] x0 value (dim state.ndx).")
68
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 10 .def("integrate", pure_virtual(&StateAbstract_wrap::integrate_wrap),
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 20 bp::args("self", "x", "dx"),
70 "Compute the state manifold integration.\n\n"
71 "It returns the value of x [+] dx operation. x and dx are points in "
72 "the state.diff(x0,x1) (in M)\n"
73 "and its tangent, respectively. Note that the operator result lies "
74 "on M too.\n"
75 ":param x: state point (dim. state.nx).\n"
76 ":param dx: velocity vector (dim state.ndx).\n"
77 ":return x [+] dx value (dim state.nx).")
78
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 10 .def("Jdiff", pure_virtual(&StateAbstract_wrap::Jdiff_wrap),
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 20 bp::args("self", "x0", "x1", "firstsecond"),
80 "Compute the partial derivatives of difference operator.\n\n"
81 "The difference operator (x1 [-] x0) is defined by diff(x0, x1). "
82 "Instead Jdiff\n"
83 "computes its partial derivatives, i.e. \\partial{diff(x0, x1)}{x0} "
84 "and\n"
85 "\\partial{diff(x0, x1)}{x1}. By default, this function returns the "
86 "derivatives of the\n"
87 "first and second argument (i.e. firstsecond='both'). However we "
88 "can also specific the\n"
89 "partial derivative for the first and second variables by setting "
90 "firstsecond='first'\n"
91 "or firstsecond='second', respectively.\n"
92 ":param x0: previous state point (dim state.nx).\n"
93 ":param x1: current state point (dim state.nx).\n"
94 ":param firstsecond: derivative w.r.t x0 or x1 or both\n"
95 ":return the partial derivative(s) of the diff(x0, x1) function")
96
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 10 .def("Jintegrate", pure_virtual(&StateAbstract_wrap::Jintegrate_wrap),
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 20 bp::args("self", "x", "dx", "firstsecond"),
98 "Compute the partial derivatives of integrate operator.\n\n"
99 "The integrate operator (x [+] dx) is defined by integrate(x, dx). "
100 "Instead Jintegrate\n"
101 "computes its partial derivatives, i.e. \\partial{integrate(x, "
102 "dx)}{x} and\n"
103 "\\partial{integrate(x, dx)}{dx}. By default, this function returns "
104 "the derivatives of\n"
105 "the first and second argument (i.e. firstsecond='both').\n"
106 "partial derivative by setting firstsecond='first' or "
107 "firstsecond='second'.\n"
108 ":param x: state point (dim. state.nx).\n"
109 ":param dx: velocity vector (dim state.ndx).\n"
110 ":param firstsecond: derivative w.r.t x or dx or both\n"
111 ":return the partial derivative(s) of the integrate(x, dx) function")
112
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 10 .def("JintegrateTransport",
113 pure_virtual(&StateAbstract_wrap::JintegrateTransport_wrap),
114
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 20 bp::args("self", "x", "dx", "Jin", "firstsecond"),
115 "Parallel transport from integrate(x, dx) to x.\n\n"
116 "This function performs the parallel transportation of an input "
117 "matrix whose columns\n"
118 "are expressed in the tangent space at integrate(x, dx) to the "
119 "tangent space at x point\n"
120 ":param x: state point (dim. state.nx).\n"
121 ":param dx: velocity vector (dim state.ndx).\n"
122 ":param Jin: input matrix (number of rows = state.nv).\n"
123 ":param firstsecond: derivative w.r.t x or dx")
124
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 10 .add_property("nx", bp::make_function(&StateAbstract_wrap::get_nx),
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 20 bp::make_setter(&StateAbstract_wrap::nx_,
126 10 bp::return_internal_reference<>()),
127 "dimension of state tuple")
128
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 10 .add_property("ndx", bp::make_function(&StateAbstract_wrap::get_ndx),
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 20 bp::make_setter(&StateAbstract_wrap::ndx_,
130 10 bp::return_internal_reference<>()),
131 "dimension of the tangent space of the state manifold")
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 10 .add_property("nq", bp::make_function(&StateAbstract_wrap::get_nq),
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 20 bp::make_setter(&StateAbstract_wrap::nq_,
134 10 bp::return_internal_reference<>()),
135 "dimension of the configuration tuple")
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 10 .add_property("nv", bp::make_function(&StateAbstract_wrap::get_nv),
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 20 bp::make_setter(&StateAbstract_wrap::nv_,
138 10 bp::return_internal_reference<>()),
139 "dimension of tangent space of the configuration manifold")
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 10 .add_property("has_limits",
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 20 bp::make_function(&StateAbstract_wrap::get_has_limits),
142 "indicates whether problem has finite state limits")
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 10 .add_property("lb",
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 10 bp::make_getter(&StateAbstract_wrap::lb_,
145 10 bp::return_internal_reference<>()),
146 &StateAbstract_wrap::set_lb, "lower state limits")
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 10 .add_property("ub",
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 20 bp::make_getter(&StateAbstract_wrap::ub_,
149 10 bp::return_internal_reference<>()),
150 &StateAbstract_wrap::set_ub, "upper state limits");
151 10 }
152
153 } // namespace python
154 } // namespace crocoddyl
155