GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/state.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 26 27 96.3%
Branches: 24 48 50.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/multibody/residuals/state.hpp"
10
11 #include "python/crocoddyl/multibody/multibody.hpp"
12 #include "python/crocoddyl/utils/copyable.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 10 void exposeResidualState() {
18 10 bp::register_ptr_to_python<boost::shared_ptr<ResidualModelState> >();
19
20
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 10 bp::class_<ResidualModelState, bp::bases<ResidualModelAbstract> >(
21 "ResidualModelState",
22 "This cost function defines a residual vector as r = x - xref, with x "
23 "and xref as the current and reference\n"
24 "state, respectively.",
25
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 10 bp::init<boost::shared_ptr<StateAbstract>, Eigen::VectorXd, std::size_t>(
26 20 bp::args("self", "state", "xref", "nu"),
27 "Initialize the state cost model.\n\n"
28 ":param state: state description\n"
29 ":param xref: reference state (default state.zero())\n"
30 ":param nu: dimension of control vector"))
31
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>, Eigen::VectorXd>(
32
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 20 bp::args("self", "state", "xref"),
33 "Initialize the state cost model.\n\n"
34 "The default nu value is obtained from state.nv.\n"
35 ":param state: state description\n"
36 ":param xref: reference state"))
37
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 10 .def(bp::init<boost::shared_ptr<StateAbstract>, std::size_t>(
38
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 20 bp::args("self", "state", "nu"),
39 "Initialize the state cost model.\n\n"
40 "The default reference state is obtained from state.zero().\n"
41 ":param state: state description\n"
42 ":param nu: dimension of control vector"))
43
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 10 .def(bp::init<boost::shared_ptr<StateAbstract> >(
44
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 20 bp::args("self", "state"),
45 "Initialize the state cost model.\n\n"
46 "The default reference state is obtained from state.zero(), and nu "
47 "from state.nv.\n"
48 ":param state: state description"))
49 .def<void (ResidualModelState::*)(
50 const boost::shared_ptr<ResidualDataAbstract>&,
51 const Eigen::Ref<const Eigen::VectorXd>&,
52
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 10 const Eigen::Ref<const Eigen::VectorXd>&)>(
53
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 20 "calc", &ResidualModelState::calc, bp::args("self", "data", "x", "u"),
54 "Compute the state cost.\n\n"
55 ":param data: cost data\n"
56 ":param x: state point (dim. state.nx)\n"
57 ":param u: control input (dim. nu)")
58 .def<void (ResidualModelState::*)(
59 const boost::shared_ptr<ResidualDataAbstract>&,
60 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
61
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 20 "calc", &ResidualModelAbstract::calc, bp::args("self", "data", "x"))
62 .def<void (ResidualModelState::*)(
63 const boost::shared_ptr<ResidualDataAbstract>&,
64 const Eigen::Ref<const Eigen::VectorXd>&,
65
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 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
66 "calcDiff", &ResidualModelState::calcDiff,
67
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 20 bp::args("self", "data", "x", "u"),
68 "Compute the derivatives of the state cost.\n\n"
69 "It assumes that calc has been run first.\n"
70 ":param data: action data\n"
71 ":param x: state point (dim. state.nx)\n"
72 ":param u: control input (dim. nu)")
73 .def<void (ResidualModelState::*)(
74 const boost::shared_ptr<ResidualDataAbstract>&,
75 20 const Eigen::Ref<const Eigen::VectorXd>&)>(
76 "calcDiff", &ResidualModelAbstract::calcDiff,
77
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 20 bp::args("self", "data", "x"))
78
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 20 .def("createData", &ResidualModelState::createData,
79 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
80
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 20 bp::args("self", "data"),
81 "Create the stae residual data.\n\n"
82 "Each residual model has its own data that needs to be allocated. "
83 "This function\n"
84 "returns the allocated data for the control residual.\n"
85 ":param data: shared data\n"
86 ":return residual data.")
87
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 10 .add_property("reference",
88
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 10 bp::make_function(&ResidualModelState::get_reference,
89 10 bp::return_internal_reference<>()),
90 &ResidualModelState::set_reference, "reference state")
91
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 10 .def(CopyableVisitor<ResidualModelState>());
92 10 }
93
94 } // namespace python
95 } // namespace crocoddyl
96