GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/state-base.hxx
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 62 91 68.1%
Branches: 36 132 27.3%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8 #include "crocoddyl/core/mathbase.hpp"
9
10 namespace crocoddyl {
11 template <typename Scalar>
12 11621 StateAbstractTpl<Scalar>::StateAbstractTpl(const std::size_t nx,
13 const std::size_t ndx)
14 11621 : nx_(nx),
15 11621 ndx_(ndx),
16
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 11621 lb_(VectorXs::Constant(nx_, -std::numeric_limits<Scalar>::infinity())),
17
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 11621 ub_(VectorXs::Constant(nx_, std::numeric_limits<Scalar>::infinity())),
18 11621 has_limits_(false) {
19 11621 nv_ = ndx / 2;
20 11621 nq_ = nx_ - nv_;
21 11621 }
22
23 template <typename Scalar>
24 StateAbstractTpl<Scalar>::StateAbstractTpl()
25 : nx_(0),
26 ndx_(0),
27 lb_(MathBase::VectorXs::Constant(
28 nx_, -std::numeric_limits<Scalar>::infinity())),
29 ub_(MathBase::VectorXs::Constant(
30 nx_, std::numeric_limits<Scalar>::infinity())),
31 has_limits_(false) {}
32
33 template <typename Scalar>
34 23254 StateAbstractTpl<Scalar>::~StateAbstractTpl() {}
35
36 template <typename Scalar>
37 1292 typename MathBaseTpl<Scalar>::VectorXs StateAbstractTpl<Scalar>::diff_dx(
38 const Eigen::Ref<const VectorXs>& x0,
39 const Eigen::Ref<const VectorXs>& x1) {
40
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 1292 VectorXs dxout = VectorXs::Zero(ndx_);
41
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 1292 diff(x0, x1, dxout);
42 1292 return dxout;
43 }
44
45 template <typename Scalar>
46 47 typename MathBaseTpl<Scalar>::VectorXs StateAbstractTpl<Scalar>::integrate_x(
47 const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx) {
48
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 47 VectorXs xout = VectorXs::Zero(nx_);
49
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 47 integrate(x, dx, xout);
50 47 return xout;
51 }
52
53 template <typename Scalar>
54 std::vector<typename MathBaseTpl<Scalar>::MatrixXs>
55 6 StateAbstractTpl<Scalar>::Jdiff_Js(const Eigen::Ref<const VectorXs>& x0,
56 const Eigen::Ref<const VectorXs>& x1,
57 Jcomponent firstsecond) {
58
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 6 MatrixXs Jfirst(ndx_, ndx_), Jsecond(ndx_, ndx_);
59
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 6 Jfirst.setZero();
60
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 6 Jsecond.setZero();
61 6 std::vector<MatrixXs> Jacs;
62
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 6 Jdiff(x0, x1, Jfirst, Jsecond, firstsecond);
63
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 6 switch (firstsecond) {
64 4 case both:
65
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 4 Jacs.push_back(Jfirst);
66
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 4 Jacs.push_back(Jsecond);
67 4 break;
68 ✗ case first:
69 ✗ Jacs.push_back(Jfirst);
70 ✗ break;
71 2 case second:
72
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 2 Jacs.push_back(Jsecond);
73 2 break;
74 ✗ default:
75 ✗ Jacs.push_back(Jfirst);
76 ✗ Jacs.push_back(Jsecond);
77 ✗ break;
78 }
79 12 return Jacs;
80 6 }
81
82 template <typename Scalar>
83 std::vector<typename MathBaseTpl<Scalar>::MatrixXs>
84 18 StateAbstractTpl<Scalar>::Jintegrate_Js(const Eigen::Ref<const VectorXs>& x,
85 const Eigen::Ref<const VectorXs>& dx,
86 const Jcomponent firstsecond) {
87
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 18 MatrixXs Jfirst(ndx_, ndx_), Jsecond(ndx_, ndx_);
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 18 Jfirst.setZero();
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 18 Jsecond.setZero();
90 18 std::vector<MatrixXs> Jacs;
91
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 18 Jintegrate(x, dx, Jfirst, Jsecond, firstsecond, setto);
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 18 switch (firstsecond) {
93 18 case both:
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 18 Jacs.push_back(Jfirst);
95
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 18 Jacs.push_back(Jsecond);
96 18 break;
97 ✗ case first:
98 ✗ Jacs.push_back(Jfirst);
99 ✗ break;
100 ✗ case second:
101 ✗ Jacs.push_back(Jsecond);
102 ✗ break;
103 ✗ default:
104 ✗ Jacs.push_back(Jfirst);
105 ✗ Jacs.push_back(Jsecond);
106 ✗ break;
107 }
108 36 return Jacs;
109 18 }
110
111 template <typename Scalar>
112 669609 std::size_t StateAbstractTpl<Scalar>::get_nx() const {
113 669609 return nx_;
114 }
115
116 template <typename Scalar>
117 7942823 std::size_t StateAbstractTpl<Scalar>::get_ndx() const {
118 7942823 return ndx_;
119 }
120
121 template <typename Scalar>
122 197938 std::size_t StateAbstractTpl<Scalar>::get_nq() const {
123 197938 return nq_;
124 }
125
126 template <typename Scalar>
127 4097070 std::size_t StateAbstractTpl<Scalar>::get_nv() const {
128 4097070 return nv_;
129 }
130
131 template <typename Scalar>
132 7 const typename MathBaseTpl<Scalar>::VectorXs& StateAbstractTpl<Scalar>::get_lb()
133 const {
134 7 return lb_;
135 }
136
137 template <typename Scalar>
138 7 const typename MathBaseTpl<Scalar>::VectorXs& StateAbstractTpl<Scalar>::get_ub()
139 const {
140 7 return ub_;
141 }
142
143 template <typename Scalar>
144 ✗ bool StateAbstractTpl<Scalar>::get_has_limits() const {
145 ✗ return has_limits_;
146 }
147
148 template <typename Scalar>
149 ✗ void StateAbstractTpl<Scalar>::set_lb(const VectorXs& lb) {
150 ✗ if (static_cast<std::size_t>(lb.size()) != nx_) {
151 ✗ throw_pretty("Invalid argument: "
152 << "lower bound has wrong dimension (it should be " +
153 std::to_string(nx_) + ")");
154 }
155 ✗ lb_ = lb;
156 ✗ update_has_limits();
157 }
158
159 template <typename Scalar>
160 ✗ void StateAbstractTpl<Scalar>::set_ub(const VectorXs& ub) {
161 ✗ if (static_cast<std::size_t>(ub.size()) != nx_) {
162 ✗ throw_pretty("Invalid argument: "
163 << "upper bound has wrong dimension (it should be " +
164 std::to_string(nx_) + ")");
165 }
166 ✗ ub_ = ub;
167 ✗ update_has_limits();
168 }
169
170 template <typename Scalar>
171 11104 void StateAbstractTpl<Scalar>::update_has_limits() {
172
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 11104 has_limits_ = isfinite(lb_.array()).any() || isfinite(ub_.array()).any();
173 11104 }
174
175 } // namespace crocoddyl
176