GCC Code Coverage Report

Directory: ./
File: include/multicontact-api/bindings/python/scenario/contact-sequence.hpp
Date: 2025-04-05 01:06:26
Exec Total Coverage
Lines: 85 94 90.4%
Branches: 107 222 48.2%
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_sequence_hpp__
5 #define __multicontact_api_python_scenario_contact_sequence_hpp__
6
7 #include <eigenpy/eigenpy.hpp>
8 #include <pinocchio/bindings/python/utils/std-aligned-vector.hpp>
9 #include <pinocchio/fwd.hpp>
10
11 #include "multicontact-api/bindings/python/serialization/archive.hpp"
12 #include "multicontact-api/scenario/contact-sequence.hpp"
13
14 namespace multicontact_api {
15 namespace python {
16
17 namespace bp = boost::python;
18
19 template <typename CS>
20 struct ContactSequencePythonVisitor
21 : public bp::def_visitor<ContactSequencePythonVisitor<CS> > {
22 typedef typename CS::ContactPhaseVector ContactPhaseVector;
23
24 16 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(cs_breakContact_overloads,
25 CS::breakContact, 1, 2)
26 14 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(cs_createContact_overloads,
27 CS::createContact, 2, 3)
28 8 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(cs_moveEffectorToPlacement_overloads,
29 CS::moveEffectorToPlacement, 2, 4)
30 8 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(cs_moveEffectorOf_overloads,
31 CS::moveEffectorOf, 2, 4)
32 6 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(cs_haveEffectorTrajectories_overloads,
33 CS::haveEffectorsTrajectories, 0, 2)
34
35 template <class PyClass>
36 3 void visit(PyClass& cl) const {
37
2/4
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
 3 cl.def(bp::init<size_t>(bp::arg("size"),
38 "Default constructor from a given size."))
39
3/6
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
 6 .def(bp::init<>(bp::arg(""), "Default constructor."))
40
3/6
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
 6 .def(bp::init<CS>(bp::args("other"), "Copy contructor."))
41 6 .def("size", &CS::size, "Return the size of the contact sequence.")
42
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 .def("resize", &CS::resize, bp::arg("size"),
43 "Resize the vector of ContactPhases.")
44
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 .def("append", &CS::append, bp::arg("ContactPhase"),
45 "Add the given ContactPhase at the end of the sequence. \n"
46 "Return the new id of this ContactPhase inside the sequence.")
47
3/6
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
 3 .add_property("contactPhases",
48 bp::make_getter(&CS::m_contact_phases,
49 3 bp::return_internal_reference<>()),
50 "Vector of Contact Phases contained in the sequence")
51 6 .def("breakContact", &CS::breakContact,
52
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 cs_breakContact_overloads(
53
4/8
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 3 times.
✗ Branch 11 not taken.
 6 (bp::arg("eeName"), bp::arg("phaseDuration") = -1),
54 " Add a new contactPhase at the end of the current "
55 "ContactSequence,"
56 "The new ContactPhase have the same ContactPatchs as the last "
57 "phase of the sequence,"
58 "with the exeption of the given contact removed."
59 "It copy all the 'final' values of the last phase as "
60 "'initial' values of the new phase."
61 "It also set the duration of the previous last phase. \n"
62 "phaseDuration : if provided, the duration of the previous "
63 "last phase of the sequence is set to this "
64 "value"
65 "(it is thus the duration BEFORE breaking the contact) \n"
66 "Raise value_error if the phaseDuration is provided but the "
67 "last phase do not have a time-range "
68 "defined.\n"
69 "Raise value_error if eeName is not in contact in the last "
70 "phase of the sequence.\n"))
71
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("createContact", &CS::createContact,
72
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 cs_createContact_overloads(
73
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 (bp::arg("eeName"), bp::arg("contactPatch"),
74
3/6
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
 6 bp::arg("phaseDuration") = -1),
75 "Add a new contactPhase at the end of the current "
76 "ContactSequence,"
77 "The new ContactPhase have the same ContactPatchs as the last "
78 "phase of the sequence,"
79 "with the exeption of the given contact added.\n"
80 "phaseDuration: if provided, the duration of the previous "
81 "last phase of the sequence is set to this "
82 "value"
83 "(it is thus the duration BEFORE creating the contact)\n"
84 "Raise value_error if the phaseDuration is provided but the "
85 "last phase do not have a time-range "
86 "defined\n"
87 "Raise value_error if eeName is already in contact in the "
88 "last phase of the sequence"))
89
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def(
90 "moveEffectorToPlacement", &CS::moveEffectorToPlacement,
91
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 cs_moveEffectorToPlacement_overloads(
92
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 (bp::arg("eeName"), bp::arg("placement"),
93
6/12
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 3 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 3 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 3 times.
✗ Branch 17 not taken.
 6 bp::arg("durationBreak") = -1, bp::arg("durationCreate") = -1),
94 "Add two new phases at the end of the current "
95 "ContactSequence:\n"
96 "- it break the contact with eeName\n"
97 "- it create the contact with eeName at the given placement.\n"
98 "It copy all the 'final' values of the last phase as 'initial' "
99 "values of the new phase."
100 "It also set the duration of the previous last phase.\n"
101 "placement: the new placement for the contact of eeName, "
102 "defined as a pinocchio::SE3\n"
103 "durationBreak: the duration of the previous last phase of the "
104 "sequence"
105 "(it is thus the duration BEFORE breaking the contact)\n"
106 "durationCreate: the duration of the first new ContactPhase"
107 "(it is thus the duration BEFORE creating the contact)\n"
108 "Raise value_error if the phaseDuration is provided but the "
109 "last phase do not have a time-range "
110 "defined\n"
111 "Raise value_error if eeName is not in contact in the last "
112 "phase of the sequence\n"))
113
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def(
114 "moveEffectorOf", &CS::moveEffectorOf,
115
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 cs_moveEffectorOf_overloads(
116
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 (bp::arg("eeName"), bp::arg("transform"),
117
6/12
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 3 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 3 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 3 times.
✗ Branch 17 not taken.
 6 bp::arg("durationBreak") = -1, bp::arg("durationCreate") = -1),
118 "Similar to moveEffectorToPlacement"
119 "exept that the new placement is defined from the previous "
120 "placement and a given transform applied.\n"
121 "transform: the transform applied to the placement of the "
122 "contact in the last phase of the sequence.\n"
123 "durationBreak: the duration of the previous last phase of the "
124 "sequence"
125 "(it is thus the duration BEFORE breaking the contact)\n"
126 "durationCreate: the duration of the first new ContactPhase"
127 "(it is thus the duration BEFORE creating the contact)\n"
128 "Raise value_error if the phaseDuration is provided but the "
129 "last phase do not have a time-range "
130 "defined\n"
131 "Raise value_error if eeName is not in contact in the last "
132 "phase of the sequence\n"))
133
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveTimings", &CS::haveTimings,
134 "Check if all the time intervals are defined and consistent"
135 "(ie. the time always increase and the final time of one phase is "
136 "equal to the initial one of the newt "
137 "phase) \n"
138 "Return true if the sequence is consistent, false otherwise")
139
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveConsistentContacts", &CS::haveConsistentContacts,
140 "check that there is always one contact change between adjacent "
141 "phases in the sequence.\n"
142 "and that there isn't any phase without any contact.")
143
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveCOMvalues", &CS::haveCOMvalues,
144 "Check that the initial and final CoM position values are defined "
145 "for all phases.\n"
146 "Also check that the initial values of one phase correspond to "
147 "the final values of the previous ones.")
148
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveAMvalues", &CS::haveAMvalues,
149 "Check that the initial and final AM values are defined for all "
150 "phases.\n"
151 "Also check that the initial values of one phase correspond to "
152 "the final values of the previous ones.")
153
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveCentroidalValues", &CS::haveCentroidalValues,
154 "Check that the initial and final CoM position and AM values are "
155 "defined for all phases.\n"
156 "Also check that the initial values of one phase correspond to "
157 "the final values of the previous ones.")
158
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveConfigurationsValues", &CS::haveConfigurationsValues,
159 "Check that the initial and final configuration are defined for "
160 "all phases.\n"
161 "Also check that the initial values of one phase correspond to "
162 "the final values of the previous ones.")
163
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveCOMtrajectories", &CS::haveCOMtrajectories,
164 "check that a c, dc and ddc trajectories are defined for each "
165 "phases.\n"
166 "Also check that the time interval of this trajectories matches "
167 "the one of the phase.\n"
168 "and that the trajectories start and end and the correct values "
169 "defined in each phase.")
170
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveAMtrajectories", &CS::haveAMtrajectories,
171 "check that a L and dL trajectories are defined for each phases.\n"
172 "Also check that the time interval of this trajectories matches "
173 "the one of the phase.\n"
174 "and that the trajectories start and end and the correct values "
175 "defined in each phase.")
176
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveCentroidalTrajectories", &CS::haveCentroidalTrajectories,
177 "check that all centroidal trajectories are defined for each "
178 "phases.\n"
179 "Also check that the time interval of this trajectories matches "
180 "the one of the phase.\n"
181 "and that the trajectories start and end and the correct values "
182 "defined in each phase.")
183
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveEffectorsTrajectories", &CS::haveEffectorsTrajectories,
184
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 cs_haveEffectorTrajectories_overloads(
185
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 (bp::args("precision_threshold") =
186
1/2
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
 6 Eigen::NumTraits<typename CS::Scalar>::dummy_precision(),
187
3/6
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 3 times.
✗ Branch 8 not taken.
 6 bp::args("use_rotation") = true),
188 "check that for each phase preceeding a contact creation,"
189 "an SE3 trajectory is defined for the effector that will be "
190 "in contact.\n"
191 "Also check that this trajectory is defined on the "
192 "time-interval of the phase.\n"
193 "Also check that the trajectory correctly end at the "
194 "placement defined for the contact in the next "
195 "phase.\n"
196 "If this effector was in contact in the previous phase,"
197 "it check that the trajectory start at the previous contact "
198 "placement.\n"
199 "If use_rotation == false, only the translation part of the "
200 "transforms are compared. "))
201
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveJointsTrajectories", &CS::haveJointsTrajectories,
202 "Check that a q trajectory is defined for each phases.\n"
203 "Also check that the time interval of this trajectories matches "
204 "the one of the phase.\n"
205 "and that the trajectories start and end and the correct values "
206 "defined in each phase.")
207
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveJointsDerivativesTrajectories",
208 &CS::haveJointsDerivativesTrajectories,
209 "Check that a dq and ddq trajectories are defined for each "
210 "phases.\n"
211 "Also check that the time interval of this trajectories matches "
212 "the one of the phase.\n"
213 "and that the trajectories start and end and the correct values "
214 "defined in each phase.")
215
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveTorquesTrajectories", &CS::haveTorquesTrajectories,
216 "Check that a joint torque trajectories are defined for each "
217 "phases.\n"
218 "Also check that the time interval of this trajectories matches "
219 "the one of the phase.\n"
220 "and that the trajectories start and end and the correct values "
221 "defined in each phase")
222
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveContactForcesTrajectories",
223 &CS::haveContactForcesTrajectories,
224 "Check that a contact force trajectory exist for each active "
225 "contact.\n"
226 "Also check that the time interval of this trajectories matches "
227 "the one of the phase.\n"
228 "and that the trajectories start and end and the correct values "
229 "defined in each phase.")
230
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveRootTrajectories", &CS::haveRootTrajectories,
231 "check that a root trajectory exist for each contact phases.\n"
232 "Also check that it start and end at the correct time interval.")
233
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveFriction", &CS::haveFriction,
234 "check that all the contact patch used in the sequence have"
235 "a friction coefficient initialized.")
236
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveContactModelDefined", &CS::haveContactModelDefined,
237 "haveContactModelDefined check that all the contact patch have a "
238 "contact_model defined")
239
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("haveZMPtrajectories", &CS::haveZMPtrajectories,
240 "check that all the contact phases have a ZMP trajectory.")
241
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 .def("getAllEffectorsInContact", &getAllEffectorsInContactAsList,
242 "return a list of names of all the effectors used to create "
243 "contacts during the sequence")
244 6 .def("concatenateCtrajectories", &CS::concatenateCtrajectories,
245 "Return a piecewise curve wchich is the concatenation of the m_c "
246 "curves"
247 " for each contact phases in the sequence.")
248
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateDCtrajectories", &CS::concatenateDCtrajectories,
249 "Return a piecewise curve wchich is the concatenation of the m_dc "
250 "curves"
251 " for each contact phases in the sequence.")
252
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateDDCtrajectories", &CS::concatenateDDCtrajectories,
253 "Return a piecewise curve wchich is the concatenation of the "
254 "m_ddc curves"
255 " for each contact phases in the sequence.")
256
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateLtrajectories", &CS::concatenateLtrajectories,
257 "Return a piecewise curve wchich is the concatenation of the m_L "
258 "curves"
259 " for each contact phases in the sequence.")
260
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateDLtrajectories", &CS::concatenateDLtrajectories,
261 "Return a piecewise curve wchich is the concatenation of the m_dL "
262 "curves"
263 " for each contact phases in the sequence.")
264
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateZMPtrajectories", &CS::concatenateZMPtrajectories,
265 "Return a piecewise curve wchich is the concatenation of the "
266 "m_zmp curves"
267 " for each contact phases in the sequence.")
268
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateWrenchTrajectories",
269 &CS::concatenateWrenchTrajectories,
270 "Return a piecewise curve wchich is the concatenation of the "
271 "m_wrench curves"
272 " for each contact phases in the sequence.")
273
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateQtrajectories", &CS::concatenateQtrajectories,
274 "Return a piecewise curve wchich is the concatenation of the m_q "
275 "curves"
276 " for each contact phases in the sequence.")
277
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateDQtrajectories", &CS::concatenateDQtrajectories,
278 "Return a piecewise curve wchich is the concatenation of the m_dq "
279 "curves"
280 " for each contact phases in the sequence.")
281
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateDDQtrajectories", &CS::concatenateDDQtrajectories,
282 "Return a piecewise curve wchich is the concatenation of the "
283 "m_ddq curves"
284 " for each contact phases in the sequence.")
285
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateTauTrajectories", &CS::concatenateTauTrajectories,
286 "Return a piecewise curve wchich is the concatenation of the "
287 "m_tau curves"
288 " for each contact phases in the sequence.")
289
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateRootTrajectories", &CS::concatenateRootTrajectories,
290 "Return a piecewise curve wchich is the concatenation of the "
291 "m_root curves"
292 " for each contact phases in the sequence.")
293
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateEffectorTrajectories",
294
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 6 &CS::concatenateEffectorTrajectories, bp::arg("eeName"),
295 "Return a piecewise curve which is the concatenation"
296 "of the effectors trajectories curves for the given effector"
297 "for each contact phases in the sequence.\n"
298 "During the phases where no effector trajectories are defined,"
299 "the trajectory is constant with the value of"
300 "the last phase where it was defined.")
301
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateContactForceTrajectories",
302
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 6 &CS::concatenateContactForceTrajectories, bp::arg("eeName"),
303 "Return a piecewise curve which"
304 "is the concatenation of the contact forces for the given effector"
305 "for each contact phases in the sequence.\n"
306 "During the phases where no contact forces are defined,"
307 "the trajectory is constant with the value of 0.")
308
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("concatenateNormalForceTrajectories",
309
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 6 &CS::concatenateNormalForceTrajectories, bp::arg("eeName"),
310 "Return a piecewise curve which"
311 "is the concatenation of the contact normal forces for the given "
312 "effector"
313 "for each contact phases in the sequence.\n"
314 "During the phases where no contact normal forces are defined,"
315 "the trajectory is constant with the value of 0.")
316
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 6 .def("phaseIdAtTime", &CS::phaseIdAtTime, bp::arg("time"),
317 "return the index of a phase in the sequence such that "
318 "phase.timeInitial <= t < phase.timeFinal \n"
319 "if t equal to the last phase timeFinal, this index is returned.")
320
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 .def("phaseAtTime", &CS::phaseAtTime, bp::arg("time"),
321 3 bp::return_internal_reference<>(),
322 "return a phase of the sequence such that "
323 "phase.timeInitial <= t < phase.timeFinal \n"
324 "if t equal to the last phase timeFinal, this index is returned.")
325
2/4
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
 3 .def(bp::self == bp::self)
326
1/2
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
 6 .def(bp::self != bp::self)
327
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def("copy", &copy, "Returns a copy of *this.");
328 3 }
329
330 3 static void expose(const std::string& class_name) {
331
1/2
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
 3 std::string doc = "Contact Sequence of dynamic size";
332
1/2
✓ Branch 3 taken 3 times.
✗ Branch 4 not taken.
 3 bp::class_<CS>(class_name.c_str(), doc.c_str(), bp::no_init)
333
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def(ContactSequencePythonVisitor<CS>())
334
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def(SerializableVisitor<CS>());
335
336
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 bp::class_<ContactPhaseVector>("ContactPhaseVector")
337
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 .def(bp::vector_indexing_suite<ContactPhaseVector>());
338 3 }
339
340 protected:
341 ✗ static CS copy(const CS& self) { return CS(self); }
342
343 // Converts a C++ vector to a python list
344 // Note : lot of overhead, should not be used for large vector and/or
345 // operations called frequently. prefer the direct bindings with
346 // std_vector_strings for this cases.
347 template <class T>
348 ✗ static bp::list toPythonList(std::vector<T> vector) {
349 ✗ typename std::vector<T>::const_iterator iter;
350 ✗ boost::python::list list;
351 ✗ for (iter = vector.begin(); iter != vector.end(); ++iter) {
352 ✗ list.append(*iter);
353 }
354 ✗ return list;
355 }
356
357 ✗ static bp::list getAllEffectorsInContactAsList(CS& self) {
358 ✗ return toPythonList<std::string>(self.getAllEffectorsInContact());
359 }
360 };
361 } // namespace python
362 } // namespace multicontact_api
363
364 #endif // ifndef __multicontact_api_python_scenario_contact_sequence_hpp__
365