| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/numdiff/state.cpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 21 | 21 | 100.0% |
| Branches: | 21 | 42 | 50.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, University of Edinburgh, University of Pisa, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/numdiff/state.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/core/core.hpp" | ||
| 13 | #include "python/crocoddyl/core/state-base.hpp" | ||
| 14 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace python { | ||
| 18 | |||
| 19 | 10 | void exposeStateNumDiff() { | |
| 20 | 10 | bp::register_ptr_to_python<boost::shared_ptr<StateNumDiff> >(); | |
| 21 | |||
| 22 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | bp::class_<StateNumDiff, bp::bases<StateAbstract> >( |
| 23 | "StateNumDiff", | ||
| 24 | "Abstract class for computing Jdiff and Jintegrate by using numerical " | ||
| 25 | "differentiation.\n\n", | ||
| 26 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | bp::init<boost::shared_ptr<StateAbstract> >( |
| 27 | 20 | bp::args("self", "state"), | |
| 28 | "Initialize the state numdiff.\n\n" | ||
| 29 | ":param model: state where we compute the derivatives through " | ||
| 30 | "numerial differentiation")) | ||
| 31 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | .def("zero", &StateNumDiff::zero, bp::args("self"), |
| 32 | "Return a zero reference state.\n\n" | ||
| 33 | ":return zero reference state") | ||
| 34 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | .def("rand", &StateNumDiff::rand, bp::args("self"), |
| 35 | "Return a random reference state.\n\n" | ||
| 36 | ":return random reference state") | ||
| 37 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | .def("diff", &StateNumDiff::diff_dx, bp::args("self", "x0", "x1"), |
| 38 | "Operator that differentiates the two state points.\n\n" | ||
| 39 | "It returns the value of x1 [-] x0 operation. Due to a state vector " | ||
| 40 | "lies in\n" | ||
| 41 | "the Euclidean space, this operator is defined with arithmetic " | ||
| 42 | "subtraction.\n" | ||
| 43 | ":param x0: current state (dim state.nx()).\n" | ||
| 44 | ":param x1: next state (dim state.nx()).\n" | ||
| 45 | ":return x1 - x0 value (dim state.nx()).") | ||
| 46 |
2/4✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
|
20 | .def("integrate", &StateNumDiff::integrate_x, bp::args("self", "x", "dx"), |
| 47 | "Operator that integrates the current state.\n\n" | ||
| 48 | "It returns the value of x [+] dx operation. Due to a state vector " | ||
| 49 | "lies in\n" | ||
| 50 | "the Euclidean space, this operator is defined with arithmetic " | ||
| 51 | "addition.\n" | ||
| 52 | "Futhermore there is no timestep here (i.e. dx = v*dt), note this " | ||
| 53 | "if you're\n" | ||
| 54 | "integrating a velocity v during an interval dt.\n" | ||
| 55 | ":param x: current state (dim state.nx()).\n" | ||
| 56 | ":param dx: displacement of the state (dim state.nx()).\n" | ||
| 57 | ":return x + dx value (dim state.nx()).") | ||
| 58 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | .def( |
| 59 | "Jdiff", &StateNumDiff::Jdiff_Js, | ||
| 60 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | Jdiffs( |
| 61 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
20 | bp::args("self", "x0", "x1", "firstsecond"), |
| 62 | "Compute the partial derivatives of arithmetic substraction.\n\n" | ||
| 63 | "Both Jacobian matrices are represented throught an identity " | ||
| 64 | "matrix, with the exception\n" | ||
| 65 | "that the first partial derivatives (w.r.t. x0) has negative " | ||
| 66 | "signed. By default, this\n" | ||
| 67 | "function returns the derivatives of the first and second " | ||
| 68 | "argument (i.e.\n" | ||
| 69 | "firstsecond='both'). However we ask for a specific partial " | ||
| 70 | "derivative by setting\n" | ||
| 71 | "firstsecond='first' or firstsecond='second'.\n" | ||
| 72 | ":param x0: current state (dim state.nx()).\n" | ||
| 73 | ":param x1: next state (dim state.nx()).\n" | ||
| 74 | ":param firstsecond: derivative w.r.t x0 or x1 or both\n" | ||
| 75 | ":return the partial derivative(s) of the diff(x0, x1) function")) | ||
| 76 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | .def("Jintegrate", &StateNumDiff::Jintegrate_Js, |
| 77 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | Jintegrates( |
| 78 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
20 | bp::args("self", "x", "dx", "firstsecond"), |
| 79 | "Compute the partial derivatives of arithmetic addition.\n\n" | ||
| 80 | "Both Jacobian matrices are represented throught an identity " | ||
| 81 | "matrix. By default, this\n" | ||
| 82 | "function returns the derivatives of the first and second " | ||
| 83 | "argument (i.e.\n" | ||
| 84 | "firstsecond='both'). However we ask for a specific partial " | ||
| 85 | "derivative by setting\n" | ||
| 86 | "firstsecond='first' or firstsecond='second'.\n" | ||
| 87 | ":param x: current state (dim state.nx()).\n" | ||
| 88 | ":param dx: displacement of the state (dim state.nx()).\n" | ||
| 89 | ":param firstsecond: derivative w.r.t x or dx or both\n" | ||
| 90 | ":return the partial derivative(s) of the integrate(x, dx) " | ||
| 91 | "function")) | ||
| 92 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | .def("JintegrateTransport", &StateNumDiff::JintegrateTransport, |
| 93 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
20 | bp::args("self", "x", "dx", "Jin", "firstsecond"), |
| 94 | "Parallel transport from integrate(x, dx) to x.\n\n" | ||
| 95 | "This function performs the parallel transportation of an input " | ||
| 96 | "matrix whose columns\n" | ||
| 97 | "are expressed in the tangent space at integrate(x, dx) to the " | ||
| 98 | "tangent space at x point\n" | ||
| 99 | ":param x: state point (dim. state.nx).\n" | ||
| 100 | ":param dx: velocity vector (dim state.ndx).\n" | ||
| 101 | ":param Jin: input matrix (number of rows = state.nv).\n" | ||
| 102 | ":param firstsecond: derivative w.r.t x or dx") | ||
| 103 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | .add_property( |
| 104 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
20 | "disturbance", bp::make_function(&StateNumDiff::get_disturbance), |
| 105 | &StateNumDiff::set_disturbance, | ||
| 106 | "disturbance constant used in the numerical differentiation") | ||
| 107 |
1/2✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
|
10 | .def(CopyableVisitor<StateNumDiff>()); |
| 108 | 10 | } | |
| 109 | |||
| 110 | } // namespace python | ||
| 111 | } // namespace crocoddyl | ||
| 112 |