GCC Code Coverage Report

Directory: ./
File: include/multicontact-api/bindings/python/scenario/contact-phase.hpp
Date: 2025-03-10 16:17:01
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Lines: 171 171 100.0%
Branches: 149 294 50.7%
Line Branch Exec Source
1 // Copyright (c) 2015-2018, CNRS
2 // Authors: Justin Carpentier <jcarpent@laas.fr>
3
4 #ifndef __multicontact_api_python_scenario_contact_phase_hpp__
5 #define __multicontact_api_python_scenario_contact_phase_hpp__
6
7 #include <pinocchio/fwd.hpp>
8 // Include pinocchio before everything else
9 #include <ndcurves/python/python_definitions.h>
10
11 #include <boost/python/suite/indexing/map_indexing_suite.hpp>
12 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
13 #include <eigenpy/eigenpy.hpp>
14 #include <typeinfo>
15
16 #include "multicontact-api/bindings/python/serialization/archive.hpp"
17 #include "multicontact-api/bindings/python/utils/printable.hpp"
18 #include "multicontact-api/scenario/contact-phase.hpp"
19
20 namespace multicontact_api {
21 namespace python {
22
23 namespace bp = boost::python;
24
25 template <typename ContactPhase>
26 struct ContactPhasePythonVisitor
27 : public bp::def_visitor<ContactPhasePythonVisitor<ContactPhase> > {
28 typedef typename ContactPhase::Scalar Scalar;
29 typedef typename ContactPhase::ContactPatch ContactPatch;
30 typedef typename ContactPhase::SE3 SE3;
31 typedef typename ContactPhase::t_strings t_strings;
32 typedef typename ContactPhase::curve_ptr curve_ptr;
33 typedef typename ContactPhase::curve_SE3_ptr curve_SE3_ptr;
34 typedef typename ContactPhase::point3_t point3_t;
35 typedef typename ContactPhase::point6_t point6_t;
36 typedef typename ContactPhase::pointX_t pointX_t;
37 typedef ndcurves::t_pointX_t t_pointX_t;
38 typedef ndcurves::t_time_t t_time_t;
39 typedef ndcurves::pointX_list_t pointX_list_t;
40 typedef ndcurves::time_waypoints_t time_waypoints_t;
41
42 // call macro for all ContactPhase methods that can be overloaded
43 6 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(isConsistent_overloads,
44 ContactPhase::isConsistent, 0, 1)
45
46 template <class PyClass>
47 3 void visit(PyClass& cl) const {
48
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 3 cl.def(bp::init<>(bp::arg(""), "Default constructor."))
49
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 6 .def(bp::init<Scalar, Scalar>(bp::args("t_init", "t_final"),
50 "Constructor with time interval."))
51
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 6 .def(bp::init<ContactPhase>(bp::arg("other"), "Copy contructor."))
52
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 3 .add_property("timeInitial", &getTimeInitial, &setTimeInitial,
53 "The time at the begining of this contact phase.")
54
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 3 .add_property("timeFinal", &getTimeFinal, &setTimeFinal,
55 "The time at the end of this contact phase.")
56
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 3 .add_property("duration", &getDuration, &setDuration,
57 "The duration this contact phase.")
58 // expose public members :
59
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 6 .add_property(
60 "c_init",
61 bp::make_getter(&ContactPhase::m_c_init,
62 3 bp::return_value_policy<bp::return_by_value>()),
63 bp::make_setter(&ContactPhase::m_c_init),
64 "Initial 3D position of the center of mass for this contact phase")
65
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 6 .add_property(
66 "dc_init",
67 bp::make_getter(&ContactPhase::m_dc_init,
68 3 bp::return_value_policy<bp::return_by_value>()),
69 bp::make_setter(&ContactPhase::m_dc_init),
70 "Initial linear velocity of the center of mass for this contact "
71 "phase")
72
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 6 .add_property(
73 "ddc_init",
74 bp::make_getter(&ContactPhase::m_ddc_init,
75 3 bp::return_value_policy<bp::return_by_value>()),
76 bp::make_setter(&ContactPhase::m_ddc_init),
77 "Initial linear acceleration of the center of mass for this "
78 "contact phase")
79
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 6 .add_property(
80 "L_init",
81 bp::make_getter(&ContactPhase::m_L_init,
82 3 bp::return_value_policy<bp::return_by_value>()),
83 bp::make_setter(&ContactPhase::m_L_init),
84 "Initial angular momentum for this contact phase")
85
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 6 .add_property(
86 "dL_init",
87 bp::make_getter(&ContactPhase::m_dL_init,
88 3 bp::return_value_policy<bp::return_by_value>()),
89 bp::make_setter(&ContactPhase::m_dL_init),
90 "Initial angular momentum derivative for this contact phase")
91
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 6 .add_property(
92 "q_init",
93 bp::make_getter(&ContactPhase::m_q_init,
94 3 bp::return_value_policy<bp::return_by_value>()),
95 bp::make_setter(&ContactPhase::m_q_init),
96 "Initial whole body configuration of this phase")
97
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 6 .add_property(
98 "c_final",
99 bp::make_getter(&ContactPhase::m_c_final,
100 3 bp::return_value_policy<bp::return_by_value>()),
101 bp::make_setter(&ContactPhase::m_c_final),
102 "Final 3D position of the center of mass for this contact phase")
103
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 6 .add_property(
104 "dc_final",
105 bp::make_getter(&ContactPhase::m_dc_final,
106 3 bp::return_value_policy<bp::return_by_value>()),
107 bp::make_setter(&ContactPhase::m_dc_final),
108 "Final linear velocity of the center of mass for this contact "
109 "phase")
110
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 6 .add_property(
111 "ddc_final",
112 bp::make_getter(&ContactPhase::m_ddc_final,
113 3 bp::return_value_policy<bp::return_by_value>()),
114 bp::make_setter(&ContactPhase::m_ddc_final),
115 "Final linear acceleration of the center of mass for this contact "
116 "phase")
117
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 6 .add_property(
118 "L_final",
119 bp::make_getter(&ContactPhase::m_L_final,
120 3 bp::return_value_policy<bp::return_by_value>()),
121 bp::make_setter(&ContactPhase::m_L_final),
122 "Final angular momentum for this contact phase")
123
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 6 .add_property(
124 "dL_final",
125 bp::make_getter(&ContactPhase::m_dL_final,
126 3 bp::return_value_policy<bp::return_by_value>()),
127 bp::make_setter(&ContactPhase::m_dL_final),
128 "Final angular momentum derivative for this contact phase")
129
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 6 .add_property(
130 "q_final",
131 bp::make_getter(&ContactPhase::m_q_final,
132 3 bp::return_value_policy<bp::return_by_value>()),
133 bp::make_setter(&ContactPhase::m_q_final),
134 "Final whole body configuration of this phase")
135
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 3 .def_readwrite("q_t", &ContactPhase::m_q)
136
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 3 .def_readwrite("dq_t", &ContactPhase::m_dq)
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 3 .def_readwrite("ddq_t", &ContactPhase::m_ddq)
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 3 .def_readwrite("tau_t", &ContactPhase::m_tau)
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 3 .def_readwrite("c_t", &ContactPhase::m_c)
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 3 .def_readwrite("dc_t", &ContactPhase::m_dc)
141
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 3 .def_readwrite("ddc_t", &ContactPhase::m_ddc)
142
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 3 .def_readwrite("L_t", &ContactPhase::m_L)
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 3 .def_readwrite("dL_t", &ContactPhase::m_dL)
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 3 .def_readwrite("wrench_t", &ContactPhase::m_wrench)
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 3 .def_readwrite("zmp_t", &ContactPhase::m_zmp)
146
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 3 .def_readwrite("root_t", &ContactPhase::m_root)
147 // accessor to map with key
148
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 6 .def("contactForce", &contactForcesFromKey, bp::arg("effector_name"),
149 "Return a pointer to the contact force trajectory for this "
150 "effector.\n"
151 "Throw a ValueError if the effector is not in contact.")
152
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 3 .def("contactNormalForce", &contactNormalForcesFromKey,
153
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 6 bp::arg("effector_name"),
154 "Return a pointer to the contact normal force trajectory for this "
155 "effector.\n"
156 "Throw a ValueError if the effector is not in contact.")
157
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 3 .def("effectorTrajectory", &effectorTrajectoriesFromKey,
158
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 6 bp::arg("effector_name"),
159 "Return a pointer to the effector trajectory (in SE3) for this "
160 "effector.\n"
161 "Throw a ValueError if the effector is in contact.")
162
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 3 .def("contactPatch", &contactPatchFromKey, bp::arg("effector_name"),
163 3 bp::return_internal_reference<>(),
164 "Return the ContactPatch object for this effector.\n"
165 "Throw a ValueError if the effector is not in contact.")
166 // Bindings of the maps:
167
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 3 .def("contactPatches", &contactPatchesAsDict,
168 "Return a CONST dict EffectorName:ContactPatch")
169
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 3 .def("contactForces", &contactForcesAsDict,
170 "Return a CONST dict EffectorName:contact force")
171
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 3 .def("contactNormalForces", &contactNormalForcesAsDict,
172 "Return a CONST dict EffectorName:contact normal force")
173
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 3 .def("effectorTrajectories", &effectorTrajectoriesAsDict,
174 "Return a CONST dict EffectorName:effector trajectory")
175 // adding trajectory to map :
176
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 6 .def("addContactForceTrajectory",
177 &ContactPhase::addContactForceTrajectory,
178 bp::args("effector_name", "trajectory"),
179 "Add a trajectory to the map of contact forces.\n"
180 "If a trajectory already exist for this effector, it is "
181 "overwritted.\n"
182 "Throw invalid_argument if eeName is not defined in contact for "
183 "this phase.\n"
184 "Return false if a trajectory already existed (and have been "
185 "overwrited) true otherwise.")
186
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 6 .def("addContactNormalForceTrajectory",
187 &ContactPhase::addContactNormalForceTrajectory,
188 bp::args("effector_name", "trajectory"),
189 "Add a trajectory to the map of contact normal forces.\n"
190 "If a trajectory already exist for this effector, it is "
191 "overwritted.\n"
192 "Throw a ValueError if eeName is not defined in contact for this "
193 "phase.\n"
194 "Throw a ValueError if trajectory is not of dimension 1.\n"
195 "Return false if a trajectory already existed (and have been "
196 "overwrited) true otherwise.")
197
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 6 .def("addEffectorTrajectory", &ContactPhase::addEffectorTrajectory,
198 bp::args("effector_name", "trajectory"),
199 "Add a trajectory to the map of effector trajectories.\n"
200 "If a trajectory already exist for this effector, it is "
201 "overwritted.\n"
202 "Throw a ValueError if eeName is defined in contact for this "
203 "phase.\n"
204 "Return false if a trajectory already existed (and have been "
205 "overwrited) true otherwise.")
206 // contacts
207
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 6 .def("addContact", &ContactPhase::addContact,
208 bp::args("effector_name", "patch"),
209 "Add a new contact patch for effector_name to this contact phase\n"
210 "If a contact phase already exist for this effector, it is "
211 "overwritted.\n"
212 "If an end effector trajectory exist for this contact, it is "
213 "removed.\n"
214 "Return false if a contact for this effector already existed (and "
215 "have been overwrited) true otherwise.")
216
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 3 .def("removeContact", &ContactPhase::removeContact,
217
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 6 bp::arg("effector_name"),
218 "Remove the contact for effector_name.\n"
219 "This will also remove the contact_patch, all the contact_forces "
220 "and contact_normal_forces related to "
221 "this contact.\n"
222 "Return true if the effector was in contact, false otherwise")
223
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 3 .def("numContacts", &ContactPhase::numContacts,
224 "Returns the number of active contacts.")
225
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 3 .def("isEffectorInContact", &ContactPhase::isEffectorInContact,
226
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 6 bp::arg("effector_name"),
227 "Returns True if the given effector_name is in contact for this "
228 "phase, False otherwise.")
229
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 3 .def("effectorsInContact", &effectorsInContactAsList,
230 "Returns the names of the effectors in contact.")
231 6 .def("effectorHaveAtrajectory", &ContactPhase::effectorHaveAtrajectory,
232
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 6 bp::arg("effector_name"),
233 "Returns True if the given effector_name have an "
234 "effector_trajectory defined in this phase, False "
235 "otherwise.")
236
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 3 .def("effectorsWithTrajectory", &effectorsWithTrajectoryAsList,
237 "Returns the names of the effectors for which an end effector "
238 "trajectory have been defined in this phase.")
239 6 .def("isConsistent", &ContactPhase::isConsistent,
240
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 6 isConsistent_overloads(bp::arg("throw_if_invalid"),
241 "isConsistent check if all the members of "
242 "the phase are consistent together.\n"
243 "if throw_if_invalid == True it raise an "
244 "error instead of returning False."))
245
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 6 .def("getContactsBroken", &getContactsBrokenAsList, bp::arg("to"),
246 "return the list of effectors in contact in '*this' but not in "
247 "contact in 'to'")
248
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 6 .def("getContactsCreated", &getContactsCreatedAsList, bp::arg("to"),
249 "getContactsCreated return the list of effectors in contact in "
250 "'to' but not in contact in '*this'")
251
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 3 .def("getContactsRepositioned", &getContactsRepositionedAsList,
252
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 6 bp::arg("to"),
253 "return the list of effectors in contact both in 'to' and '*this' "
254 "but not at the same placement")
255
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 3 .def("getContactsVariations", &getContactsVariationsAsList,
256
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 6 bp::arg("to"),
257 "return the list of all the effectors whose contacts differ "
258 "between *this and to")
259
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 6 .def("setCOMtrajectoryFromPoints", &setCOMtrajectoryFromPoints,
260 bp::args("COM_positions", "COM_velocities", "COM_accelerations",
261 "times"),
262 "set the c,dc and ddc curves from a list of discrete"
263 "COM positions, velocity and accelerations.\n"
264 "The trajectories are build with first order polynomials "
265 "connecting each discrete points given.\n"
266 "This method also set the initial/final values for c, dc and ddc "
267 "from the first and last discrete point "
268 "given.")
269
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 6 .def("setAMtrajectoryFromPoints", &setAMtrajectoryFromPoints,
270 bp::args("AM_values", "AM_derivatives", "times"),
271 "set the L and d_L curves from a list of discrete Angular "
272 "velocity values and their derivatives.\n"
273 "The trajectories are build with first order polynomials "
274 "connecting each discrete points given.\n"
275 "This method also set the initial/final values for L, and dL from "
276 "the first and last discrete point "
277 "given.")
278
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 6 .def("setJointsTrajectoryFromPoints", &setJointsTrajectoryFromPoints,
279 bp::args("Joints_poisitions", "Joints_velocities",
280 "Joints_accelerations", "times"),
281 "set the q,dq and ddq curves from a list of discrete joints "
282 "positions, velocity and accelerations."
283 "The trajectories are build with first order polynomials "
284 "connecting each discrete points given.\n"
285 "This method also set initial/final values for q from the first "
286 "and last discrete point given.\n")
287
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 3 .def(bp::self == bp::self)
288
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 6 .def(bp::self != bp::self)
289
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 3 .def("copy", &copy, "Returns a copy of *this.");
290 3 }
291
292 3 static void expose(const std::string& class_name) {
293
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 3 std::string doc = "Contact Phase";
294
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 3 bp::class_<ContactPhase>(class_name.c_str(), doc.c_str(), bp::no_init)
295
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 3 .def(ContactPhasePythonVisitor<ContactPhase>())
296
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 3 .def(SerializableVisitor<ContactPhase>())
297
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 3 .def(PrintableVisitor<ContactPhase>());
298
299
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 3 ENABLE_SPECIFIC_MATRIX_TYPE(point3_t);
300
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 3 ENABLE_SPECIFIC_MATRIX_TYPE(point6_t);
301
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 3 ENABLE_SPECIFIC_MATRIX_TYPE(pointX_t);
302 3 }
303
304 protected:
305 // define getter and setter (because they are overloaded in c++)
306 9 static Scalar getTimeInitial(ContactPhase& self) {
307 9 return self.timeInitial();
308 }
309 3 static void setTimeInitial(ContactPhase& self, const Scalar& time) {
310 3 self.timeInitial(time);
311 3 }
312 14 static Scalar getTimeFinal(ContactPhase& self) { return self.timeFinal(); }
313 4 static void setTimeFinal(ContactPhase& self, const Scalar& time) {
314 4 self.timeFinal(time);
315 3 }
316 8 static Scalar getDuration(ContactPhase& self) { return self.duration(); }
317 9 static void setDuration(ContactPhase& self, const Scalar& time) {
318 9 self.duration(time);
319 8 }
320
321 // accessor to map with key:
322 15 static curve_ptr contactForcesFromKey(ContactPhase& self,
323 const std::string& eeName) {
324 15 return self.contactForces(eeName);
325 }
326 15 static curve_ptr contactNormalForcesFromKey(ContactPhase& self,
327 const std::string& eeName) {
328 15 return self.contactNormalForces(eeName);
329 }
330 17 static curve_SE3_ptr effectorTrajectoriesFromKey(ContactPhase& self,
331 const std::string& eeName) {
332 17 return self.effectorTrajectories(eeName);
333 }
334 49 static ContactPatch& contactPatchFromKey(ContactPhase& self,
335 const std::string& eeName) {
336 49 return self.contactPatch(eeName);
337 }
338
339 // Converts a C++ vector to a python list
340 // Note : lot of overhead, should not be used for large vector and/or
341 // operations called frequently. prefer the direct bindings with
342 // std_vector_strings for this cases.
343 template <class T>
344 21 static bp::list toPythonList(std::vector<T> vector) {
345 21 typename std::vector<T>::const_iterator iter;
346
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 21 boost::python::list list;
347
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 43 for (iter = vector.begin(); iter != vector.end(); ++iter) {
348
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 22 list.append(*iter);
349 }
350 42 return list;
351 }
352 9 static bp::list effectorsInContactAsList(ContactPhase& self) {
353
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 9 return toPythonList<std::string>(self.effectorsInContact());
354 }
355 3 static bp::list effectorsWithTrajectoryAsList(ContactPhase& self) {
356
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 3 return toPythonList<std::string>(self.effectorsWithTrajectory());
357 }
358 2 static bp::list getContactsBrokenAsList(ContactPhase& self,
359 const ContactPhase& to) {
360
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 2 return toPythonList<std::string>(self.getContactsBroken(to));
361 }
362 2 static bp::list getContactsCreatedAsList(ContactPhase& self,
363 const ContactPhase& to) {
364
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 2 return toPythonList<std::string>(self.getContactsCreated(to));
365 }
366 2 static bp::list getContactsRepositionedAsList(ContactPhase& self,
367 const ContactPhase& to) {
368
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 2 return toPythonList<std::string>(self.getContactsRepositioned(to));
369 }
370 3 static bp::list getContactsVariationsAsList(ContactPhase& self,
371 const ContactPhase& to) {
372
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 3 return toPythonList<std::string>(self.getContactsVariations(to));
373 }
374
375 // Converts a C++ map to a python dict
376 // Note : lot of overhead, should not be used for large map and/or operations
377 // called frequently. prefer the direct bindings with std_map_* for this
378 // cases.
379 template <class T>
380 40 static bp::dict toPythonDict(std::map<std::string, T> map) {
381 40 typename std::map<std::string, T>::const_iterator iter;
382
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 40 bp::dict dict;
383
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 104 for (iter = map.begin(); iter != map.end(); ++iter) {
384
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 64 dict[iter->first] = iter->second;
385 }
386 80 return dict;
387 }
388
389 6 static bp::dict contactPatchesAsDict(ContactPhase& self) {
390
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 6 return toPythonDict<ContactPatch>(self.contactPatches());
391 }
392 5 static bp::dict contactForcesAsDict(ContactPhase& self) {
393
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 5 return toPythonDict<curve_ptr>(self.contactForces());
394 }
395 5 static bp::dict contactNormalForcesAsDict(ContactPhase& self) {
396
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 5 return toPythonDict<curve_ptr>(self.contactNormalForces());
397 }
398 4 static bp::dict effectorTrajectoriesAsDict(ContactPhase& self) {
399
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 4 return toPythonDict<curve_SE3_ptr>(self.effectorTrajectories());
400 }
401
402 1 static void setCOMtrajectoryFromPoints(
403 ContactPhase& self, const pointX_list_t& points,
404 const pointX_list_t& points_derivative,
405 const pointX_list_t& points_second_derivative,
406 const time_waypoints_t& time_points) {
407
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 1 t_pointX_t points_list =
408 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
409
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 1 t_pointX_t points_derivative_list =
410 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(
411 points_derivative);
412
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 1 t_pointX_t points_second_derivative_list =
413 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(
414 points_second_derivative);
415
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 1 t_time_t time_points_list =
416 ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(
417 time_points);
418
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 1 self.setCOMtrajectoryFromPoints(points_list, points_derivative_list,
419 points_second_derivative_list,
420 time_points_list);
421 2 return;
422 1 }
423
424 1 static void setJointsTrajectoryFromPoints(
425 ContactPhase& self, const pointX_list_t& points,
426 const pointX_list_t& points_derivative,
427 const pointX_list_t& points_second_derivative,
428 const time_waypoints_t& time_points) {
429
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 1 t_pointX_t points_list =
430 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
431
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 1 t_pointX_t points_derivative_list =
432 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(
433 points_derivative);
434
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 1 t_pointX_t points_second_derivative_list =
435 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(
436 points_second_derivative);
437
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 1 t_time_t time_points_list =
438 ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(
439 time_points);
440
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 1 self.setJointsTrajectoryFromPoints(points_list, points_derivative_list,
441 points_second_derivative_list,
442 time_points_list);
443 2 return;
444 1 }
445
446 1 static void setAMtrajectoryFromPoints(ContactPhase& self,
447 const pointX_list_t& points,
448 const pointX_list_t& points_derivative,
449 const time_waypoints_t& time_points) {
450
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 1 t_pointX_t points_list =
451 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
452
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 1 t_pointX_t points_derivative_list =
453 ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(
454 points_derivative);
455
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 1 t_time_t time_points_list =
456 ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(
457 time_points);
458
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 1 self.setAMtrajectoryFromPoints(points_list, points_derivative_list,
459 time_points_list);
460 2 return;
461 1 }
462
463 1 static ContactPhase copy(const ContactPhase& self) {
464 1 return ContactPhase(self);
465 }
466 };
467 } // namespace python
468 } // namespace multicontact_api
469
470 #endif // ifndef __multicontact_api_python_scenario_contact_phase_hpp__
471