GCC Code Coverage Report

Directory: ./
File: include/multicontact-api/bindings/python/geometry/linear-cone.hpp
Date: 2025-03-10 16:17:01
Exec Total Coverage
Lines: 59 70 84.3%
Branches: 76 164 46.3%
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1 // Copyright (c) 2015-2018, CNRS
2 // Authors: Justin Carpentier <jcarpent@laas.fr>
3
4 #ifndef __multicontact_api_python_geometry_linear_cone_hpp__
5 #define __multicontact_api_python_geometry_linear_cone_hpp__
6
7 #include <eigenpy/eigenpy.hpp>
8 #include <pinocchio/fwd.hpp>
9
10 #include "multicontact-api/bindings/python/serialization/archive.hpp"
11 #include "multicontact-api/geometry/linear-cone.hpp"
12
13 namespace multicontact_api {
14 namespace python {
15
16 namespace bp = boost::python;
17
18 template <typename LC>
19 struct LCPythonVisitor
20 : public boost::python::def_visitor<LCPythonVisitor<LC> > {
21 typedef bp::class_<LC> PyClass;
22 typedef LC Type;
23
24 typedef typename LC::MatrixDx MatrixDx;
25 typedef typename LC::VectorD VectorD;
26 typedef typename LC::Scalar Scalar;
27 typedef typename LC::Index Index;
28
29 template <class PyClass>
30 12 void visit(PyClass &cl) const {
31
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 12 cl.def(bp::init<>("Default constructor."))
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 24 .def(bp::init<MatrixDx>((bp::arg("rays"), "Init from a set of rays.")))
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 24 .def(bp::init<Index>(bp::args("size"), "Init with a given size."))
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 24 .def(bp::init<LC>(bp::args("other"), "Copy constructor."))
35
36 24 .add_property("size", &LC::size, "Returns the size of the set of rays.")
37
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 12 .add_static_property("dim", &dim, "Dimension of the linear cone.")
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39
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 12 .add_property("rays", &getRays, &setRays,
40 "Matrix of rays of the linear cone.")
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 12 .def("__str__", &toString)
42
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 24 .def("isApprox",
43 (bool(LC::*)(const LC &, const Scalar &) const) & LC::isApprox,
44 bp::args("other", "prec"),
45 "Returns true if *this is approximately equal to other, within "
46 "the precision determined by prec.")
47
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 24 .def("stack", &LC::template stack<MatrixDx>, bp::args("rays"),
48 "Stack new rays to the set of rays.")
49
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 24 .def("stack", &LC::template stack<Scalar, LC::Options>,
50 bp::args("cone"), "Stack the rays of one to the set of rays.")
51
52
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 12 .def(bp::self == bp::self)
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 12 .def(bp::self != bp::self);
54 12 }
55
56 12 static PyClass &expose(const std::string &class_name, std::string doc = "") {
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 12 if (doc.empty()) {
58 12 doc = "Linear Cone of dimension " + LC::dim;
59 12 doc += " defined by its rays.";
60 }
61
62
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 12 static PyClass cl_ = PyClass(class_name.c_str(), doc.c_str(), bp::no_init);
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 12 cl_.def(LCPythonVisitor<LC>()).def(SerializableVisitor<LC>());
64
65 // Expose related matrix types
66 12 ENABLE_SPECIFIC_MATRIX_TYPE(MatrixDx);
67 12 ENABLE_SPECIFIC_MATRIX_TYPE(VectorD);
68
69 12 return cl_;
70 }
71
72 protected:
73 ✗ static std::string toString(const LC &c) {
74 ✗ std::ostringstream s;
75 ✗ s << c;
76 ✗ return s.str();
77 }
78
79 ✗ static MatrixDx getRays(const LC &self) { return self.rays(); }
80 ✗ static void setRays(LC &self, const MatrixDx &rays) { self.rays() = rays; }
81
82 ✗ static int dim() { return LC::dim; }
83 };
84
85 template <typename ForceCone>
86 struct ForceConePythonVisitor
87 : public boost::python::def_visitor<ForceConePythonVisitor<ForceCone> > {
88 typedef typename ForceCone::Scalar Scalar;
89 typedef typename ForceCone::Vector3 Vector3;
90 typedef typename ForceCone::VectorD VectorD;
91 typedef typename ForceCone::Matrix3x Matrix3x;
92 typedef typename ForceCone::Index Index;
93 typedef typename ForceCone::WrenchCone WrenchCone;
94
95 template <class _PyClass>
96 3 void visit(_PyClass &cl) const {
97
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 3 cl.def(bp::init<>("Default constructor."))
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 3 .def(bp::init<Matrix3x>(
99
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 6 (bp::arg("rays"), "Init from a matrix of rays.")))
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 6 .def(bp::init<Index>(bp::args("size"), "Init with a given size."))
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 6 .def(bp::init<ForceCone>(bp::args("other"), "Copy constructor."))
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 6 .def("SE3ActOn", &ForceCone::SE3ActOn, bp::args("M"),
104 "Returns the action of SE3 on *this, i.e. a WrenchCone.")
105
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 3 .def("toWrenchCone", &toWrenchCone, "Returns *this as a WrenchCone.")
106
107
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 6 .def("RegularCone",
108 (ForceCone(*)(const Scalar, const VectorD &,
109 const int))&ForceCone::RegularCone,
110 bp::args("mu", "direction", "num rays"),
111 "Generates a regular linear cone from a given number of rays, a "
112 "main direction and a friction "
113 "coefficient.")
114
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 6 .def("RegularCone",
115 (ForceCone(*)(const Scalar, const VectorD &, const int,
116 const Scalar))&ForceCone::RegularCone,
117 bp::args("mu", "direction", "num rays", "angle offset"),
118 "Generates a regular linear cone from a given number of rays, a "
119 "main direction and a friction "
120 "coefficient, with an offset on the orientation.")
121
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 3 .staticmethod("RegularCone");
122 3 }
123
124 3 static void expose(const std::string &class_name) {
125
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 3 std::string doc = "Force Cone of dimension 3";
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 3 doc += " defined by its rays.";
127
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 3 LCPythonVisitor<typename ForceCone::Base>::expose("LinearCone3");
129
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 3 bp::class_<ForceCone, bp::bases<typename ForceCone::Base> >(
131 class_name.c_str(), doc.c_str(), bp::no_init)
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 3 .def(ForceConePythonVisitor<ForceCone>());
133 3 }
134
135 ✗ static WrenchCone toWrenchCone(const ForceCone &self) {
136 ✗ return (WrenchCone)(self);
137 }
138 };
139
140 template <typename WrenchCone>
141 struct WrenchConePythonVisitor
142 : public boost::python::def_visitor<WrenchConePythonVisitor<WrenchCone> > {
143 typedef typename WrenchCone::Matrix3x Matrix3x;
144 typedef typename WrenchCone::Matrix6x Matrix6x;
145 typedef typename WrenchCone::Index Index;
146
147 template <class _PyClass>
148 3 void visit(_PyClass &cl) const {
149
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 6 .def(bp::init<Index>(bp::args("size"), "Init with a given size."))
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 6 .def(bp::init<WrenchCone>(bp::args("other"), "Copy constructor."))
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 6 .def("SE3ActOn", &WrenchCone::SE3ActOn, bp::args("M"),
156 "Returns the action of SE3 on *this, i.e. a WrenchCone.")
157
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 3 .def("linear", &getLinear, "Returns the linear block of *this.")
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 3 .def("angular", &getAngular, "Returns the angular block of *this.");
159 3 }
160
161 3 static void expose(const std::string &class_name) {
162
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 3 std::string doc = "Linear Wrench Cone";
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 3 LCPythonVisitor<typename WrenchCone::Base>::expose("LinearCone6");
165
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 3 bp::class_<WrenchCone, bp::bases<typename WrenchCone::Base> >(
167 class_name.c_str(), doc.c_str(), bp::no_init)
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 3 .def(WrenchConePythonVisitor<WrenchCone>());
169 3 }
170
171 protected:
172 ✗ static Matrix3x getLinear(const WrenchCone &self) { return self.linear(); }
173 ✗ static Matrix3x getAngular(const WrenchCone &self) { return self.angular(); }
174 };
175
176 } // namespace python
177 } // namespace multicontact_api
178
179 #endif // ifnef __multicontact_api_python_geometry_linear_cone_hpp__
180