| Directory: | ./ |
|---|---|
| File: | include/multicontact-api/bindings/python/geometry/second-order-cone.hpp |
| Date: | 2025-03-10 16:17:01 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 28 | 32 | 87.5% |
| Branches: | 31 | 68 | 45.6% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // Copyright (c) 2015-2018, CNRS | ||
| 2 | // Authors: Justin Carpentier <jcarpent@laas.fr> | ||
| 3 | |||
| 4 | #ifndef __multicontact_api_python_geometry_second_order_cone_hpp__ | ||
| 5 | #define __multicontact_api_python_geometry_second_order_cone_hpp__ | ||
| 6 | |||
| 7 | #include <eigenpy/eigenpy.hpp> | ||
| 8 | |||
| 9 | #include "multicontact-api/bindings/python/serialization/archive.hpp" | ||
| 10 | #include "multicontact-api/geometry/second-order-cone.hpp" | ||
| 11 | |||
| 12 | namespace multicontact_api { | ||
| 13 | namespace python { | ||
| 14 | |||
| 15 | namespace bp = boost::python; | ||
| 16 | |||
| 17 | template <typename SOC> | ||
| 18 | struct SOCPythonVisitor | ||
| 19 | : public boost::python::def_visitor<SOCPythonVisitor<SOC> > { | ||
| 20 | typedef typename SOC::MatrixD MatrixD; | ||
| 21 | typedef typename SOC::VectorD VectorD; | ||
| 22 | typedef typename SOC::Scalar Scalar; | ||
| 23 | |||
| 24 | template <class PyClass> | ||
| 25 | 12 | void visit(PyClass &cl) const { | |
| 26 |
1/2✓ Branch 2 taken 6 times.
✗ Branch 3 not taken.
|
12 | cl.def(bp::init<>("Default constructor.")) |
| 27 |
5/10✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 6 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 6 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 6 times.
✗ Branch 14 not taken.
|
24 | .def(bp::init<MatrixD, VectorD>((bp::arg("Q"), bp::arg("direction")))) |
| 28 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | .def("__str__", &toString) |
| 29 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
24 | .def("lhsValue", &SOC::lhsValue, bp::arg("vector"), |
| 30 | "Returns the lhs value of the conic inequality.") | ||
| 31 |
2/4✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
|
24 | .def("rhsValue", &SOC::rhsValue, bp::arg("vector"), |
| 32 | "Returns the rhs value of the conic inequality.") | ||
| 33 |
2/4✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
|
24 | .def("check", (bool(SOC::*)(const VectorD &) const) & SOC::check, |
| 34 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
24 | bp::arg("vector"), |
| 35 | "Checks if the vector given in argument belongs to the conic " | ||
| 36 | "constraint.") | ||
| 37 |
2/4✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
|
24 | .def("check", |
| 38 | (bool(SOC::*)(const VectorD &, const Scalar) const) & SOC::check, | ||
| 39 | bp::args("vector", "factor"), | ||
| 40 | "Checks if the vector given in argument belongs to the conic " | ||
| 41 | "constraint with a given reduction factor.") | ||
| 42 | 24 | .add_property("direction", &get_direction, &SOC::setDirection, | |
| 43 | "Accessor to the direction property.") | ||
| 44 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | .add_property("Q", &get_Q, &SOC::setQ, "Accessor to the Q property.") |
| 45 |
3/6✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 6 times.
✗ Branch 8 not taken.
|
24 | .def("isApprox", |
| 46 | (bool(SOC::*)(const SOC &, const Scalar &) const) & SOC::isApprox, | ||
| 47 | bp::args("other", "prec"), | ||
| 48 | "Returns true if *this is approximately equal to other, within " | ||
| 49 | "the precision determined by prec.") | ||
| 50 |
1/2✓ Branch 2 taken 6 times.
✗ Branch 3 not taken.
|
12 | .def(bp::self == bp::self) |
| 51 |
1/2✓ Branch 2 taken 6 times.
✗ Branch 3 not taken.
|
12 | .def(bp::self != bp::self) |
| 52 | |||
| 53 |
2/4✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 6 times.
✗ Branch 5 not taken.
|
24 | .def("RegularCone", &SOC::RegularCone, bp::args("mu", "direction"), |
| 54 | "Creates a regular cone from a given friction coefficient and a " | ||
| 55 | "direction.") | ||
| 56 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | .staticmethod("RegularCone"); |
| 57 | 12 | } | |
| 58 | |||
| 59 | 12 | static void expose(const std::string &class_name) { | |
| 60 |
1/2✓ Branch 2 taken 6 times.
✗ Branch 3 not taken.
|
12 | std::string doc = "SOC of dimension " + SOC::dim; |
| 61 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | doc += " defined by its direction and its quadratic norm."; |
| 62 |
1/2✓ Branch 3 taken 6 times.
✗ Branch 4 not taken.
|
12 | bp::class_<SOC>(class_name.c_str(), doc.c_str(), bp::no_init) |
| 63 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | .def(SOCPythonVisitor<SOC>()) |
| 64 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | .def(SerializableVisitor<SOC>()); |
| 65 | |||
| 66 | // Expose related matrix types | ||
| 67 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | ENABLE_SPECIFIC_MATRIX_TYPE(MatrixD); |
| 68 |
1/2✓ Branch 1 taken 6 times.
✗ Branch 2 not taken.
|
12 | ENABLE_SPECIFIC_MATRIX_TYPE(VectorD); |
| 69 | 12 | } | |
| 70 | |||
| 71 | protected: | ||
| 72 | ✗ | static std::string toString(const SOC &c) { | |
| 73 | ✗ | std::ostringstream s; | |
| 74 | ✗ | s << c; | |
| 75 | ✗ | return s.str(); | |
| 76 | } | ||
| 77 | |||
| 78 | 2 | static VectorD get_direction(const SOC &c) { return c.direction(); } | |
| 79 | 1 | static MatrixD get_Q(const SOC &c) { return c.Q(); } | |
| 80 | }; | ||
| 81 | |||
| 82 | } // namespace python | ||
| 83 | } // namespace multicontact_api | ||
| 84 | |||
| 85 | #endif // ifnef __multicontact_api_python_geometry_second_order_cone_hpp__ | ||
| 86 |