GCC Code Coverage Report

Directory: ./
File: python/ndcurves/optimization_python.cpp
Date: 2025-03-05 17:18:30
Exec Total Coverage
Lines: 74 127 58.3%
Branches: 54 138 39.1%
Line Branch Exec Source
1 #include <boost/python.hpp>
2 #include <boost/python/bases.hpp>
3 #include <boost/python/enum.hpp>
4
5 #include "archive_python_binding.h"
6 #include "namespace.h"
7 #include "ndcurves/optimization/definitions.h"
8 #include "ndcurves/optimization/quadratic_problem.h"
9 #include "python_variables.h"
10
11 namespace ndcurves {
12 namespace optimization {
13 namespace python {
14 static const bool safe = true;
15 typedef problem_definition<pointX_t, real> problem_definition_t;
16 typedef problem_data<pointX_t, real> problem_data_t;
17 typedef quadratic_problem<pointX_t, real> quadratic_problem_t;
18
19 9 problem_data_t setup_control_points_t(problem_definition_t& pDef) {
20 9 problem_data_t pData = setup_control_points<pointX_t, real, safe>(pDef);
21 8 return pData; // return new problem_data_t(pData);
22 }
23
24 ✗ quadratic_variable_t problem_t_cost(const quadratic_problem_t& p) {
25 ✗ return p.cost;
26 }
27 ✗ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> problem_t_ineqMatrix(
28 const quadratic_problem_t& p) {
29 ✗ return p.ineqMatrix;
30 }
31 ✗ Eigen::Matrix<real, Eigen::Dynamic, 1> problem_t_ineqVector(
32 const quadratic_problem_t& p) {
33 ✗ return p.ineqVector;
34 }
35
36 ✗ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> cost_t_quad(
37 const quadratic_variable_t& p) {
38 ✗ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> A = p.A();
39 ✗ return A;
40 }
41 ✗ Eigen::Matrix<real, Eigen::Dynamic, 1> cost_t_linear(
42 const quadratic_variable_t& p) {
43 ✗ Eigen::Matrix<real, Eigen::Dynamic, 1> b = p.b();
44 ✗ return b;
45 }
46 ✗ real cost_t_constant(const quadratic_variable_t& p) { return p.c(); }
47
48 ✗ quadratic_problem_t generate_problem_t(const problem_definition_t& pDef,
49 const quadratic_variable_t& c) {
50 ✗ return generate_problem<pointX_t, real, true>(pDef, c);
51 }
52
53 1 quadratic_problem_t generate_integral_problem_t(
54 const problem_definition_t& pDef, const integral_cost_flag c) {
55 1 return generate_problem<problem_definition_t::point_t, real, true>(pDef, c);
56 }
57
58 4 void set_pd_flag(problem_definition_t* pDef, const int flag) {
59 4 pDef->flag = (constraint_flag)(flag);
60 4 }
61 2 void set_start(problem_definition_t* pDef, const pointX_t& val) {
62 2 pDef->init_pos = val;
63 2 }
64 2 void set_end(problem_definition_t* pDef, const pointX_t& val) {
65 2 pDef->end_pos = val;
66 2 }
67 5 void set_degree(problem_definition_t* pDef, const std::size_t val) {
68 5 pDef->degree = val;
69 5 }
70 ✗ void set_total_time(problem_definition_t* pDef, const double val) {
71 ✗ pDef->totalTime = val;
72 }
73 ✗ void set_split_time(problem_definition_t* pDef, const Eigen::VectorXd& val) {
74 ✗ pDef->splitTimes_ = val;
75 }
76 ✗ Eigen::VectorXd get_split_times(const problem_definition_t* pDef) {
77 ✗ return pDef->splitTimes_;
78 }
79
80 ✗ constraint_flag get_pd_flag(const problem_definition_t* pDef) {
81 ✗ return pDef->flag;
82 }
83 2 Eigen::VectorXd get_start(const problem_definition_t* pDef) {
84 2 return pDef->init_pos;
85 }
86 ✗ Eigen::VectorXd get_end(const problem_definition_t* pDef) {
87 ✗ return pDef->end_pos;
88 }
89 1 std::size_t get_degree(const problem_definition_t* pDef) {
90 1 return pDef->degree;
91 }
92 ✗ double get_total_time(const problem_definition_t* pDef) {
93 ✗ return pDef->totalTime;
94 }
95
96 ✗ matrix_pair* get_ineq_at(const problem_definition_t* pDef,
97 const std::size_t idx) {
98 ✗ if (idx > pDef->inequalityMatrices_.size() - 1)
99 ✗ throw std::runtime_error(
100 ✗ "required id is beyond number of inequality matrices");
101 ✗ matrix_pair* res = new matrix_pair(pDef->inequalityMatrices_[idx],
102 ✗ pDef->inequalityVectors_[idx]);
103 ✗ return res;
104 }
105 ✗ bool del_ineq_at(problem_definition_t* pDef, const std::size_t idx) {
106 ✗ if (idx > pDef->inequalityMatrices_.size() - 1) return false;
107 ✗ pDef->inequalityMatrices_.erase(pDef->inequalityMatrices_.begin() + idx - 1);
108 ✗ pDef->inequalityVectors_.erase(pDef->inequalityVectors_.begin() + idx - 1);
109 ✗ return true;
110 }
111 ✗ bool add_ineq_at(problem_definition_t* pDef, const Eigen::MatrixXd ineq,
112 const Eigen::VectorXd vec) {
113 ✗ if (ineq.rows() != vec.rows())
114 ✗ throw std::runtime_error(
115 ✗ "ineq vector and matrix do not have the same number of rows");
116 ✗ if (!(pDef->inequalityMatrices_.empty()) &&
117 ✗ ineq.cols() != pDef->inequalityMatrices_.back().cols())
118 ✗ throw std::runtime_error(
119 "inequality matrix does not have the same variable dimension as "
120 ✗ "existing matrices");
121 ✗ pDef->inequalityMatrices_.push_back(ineq);
122 ✗ pDef->inequalityVectors_.push_back(vec);
123 ✗ return true;
124 }
125
126 8 bezier_linear_variable_t* pDataBezier(const problem_data_t* pData) {
127 8 const bezier_linear_variable_t& b = *pData->bezier;
128 return new bezier_linear_variable_t(
129
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 8 b.waypoints().begin(), b.waypoints().end(), b.min(), b.max(), b.mult_T_);
130 }
131
132 ✗ problem_definition_t* wrapProblemDefinitionConstructor(
133 const curve_constraints_t* c) {
134 ✗ return new problem_definition_t(*c);
135 }
136
137 8 void exposeOptimization() {
138 // using the optimization scope
139 bp::scope current_scope =
140
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 16 ndcurves::python::getOrCreatePythonNamespace("optimization");
141 /** BEGIN enums**/
142
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 16 bp::enum_<constraint_flag>("constraint_flag")
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 8 .value("INIT_POS", INIT_POS)
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 8 .value("INIT_VEL", INIT_VEL)
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 8 .value("INIT_ACC", INIT_ACC)
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 8 .value("INIT_JERK", INIT_JERK)
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 8 .value("END_POS", END_POS)
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 8 .value("END_VEL", END_VEL)
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 8 .value("END_ACC", END_ACC)
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 8 .value("END_JERK", END_JERK)
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 8 .value("ALL", ALL)
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 8 .value("NONE", NONE)
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 8 .export_values();
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 16 bp::enum_<integral_cost_flag>("integral_cost_flag")
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 8 .value("DISTANCE", DISTANCE)
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 8 .value("VELOCITY", VELOCITY)
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 8 .value("ACCELERATION", ACCELERATION)
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 8 .value("JERK", JERK)
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 8 .value("FOURTH", FOURTH)
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 8 .value("FIFTH", FIFTH)
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 8 .export_values();
163 /** END enum**/
164
165
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 16 bp::class_<quadratic_problem_t>("quadratic_problem", bp::init<>())
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 8 .add_property("cost", &problem_t_cost)
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 8 .add_property("A", &problem_t_ineqMatrix)
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 8 .add_property("b", &problem_t_ineqVector);
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 8 bp::def("setup_control_points", &setup_control_points_t);
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 8 bp::def("generate_problem", &generate_problem_t);
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 8 bp::def("generate_integral_problem", &generate_integral_problem_t);
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 8 bp::class_<problem_data_t>("problem_data", bp::no_init)
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 8 .def("bezier", &pDataBezier,
176 ✗ bp::return_value_policy<bp::manage_new_object>())
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 8 .def_readonly("numControlPoints", &problem_data_t::numControlPoints)
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 8 .def_readonly("numVariables", &problem_data_t::numVariables)
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 8 .def_readonly("startVariableIndex", &problem_data_t::startVariableIndex)
180 8 .def_readonly("numStateConstraints",
181
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 8 &problem_data_t::numStateConstraints);
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 8 bp::class_<problem_definition_t, bp::bases<curve_constraints_t> >(
184
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 8 "problem_definition", bp::init<int>())
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 16 .def("__init__", bp::make_constructor(&wrapProblemDefinitionConstructor))
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 8 .add_property("flag", &get_pd_flag, &set_pd_flag)
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 8 .add_property("init_pos", &get_start, &set_start)
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 8 .add_property("end_pos", &get_end, &set_end)
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 8 .add_property("degree", &get_degree, &set_degree)
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 8 .add_property("totalTime", &get_total_time, &set_total_time)
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 8 .add_property("splits", &get_split_times, &set_split_time)
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 8 .def("inequality", &get_ineq_at,
193 8 bp::return_value_policy<bp::manage_new_object>())
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 8 .def("removeInequality", &del_ineq_at)
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 8 .def("addInequality", &add_ineq_at);
196 8 }
197
198 } // namespace python
199 } // namespace optimization
200 } // namespace ndcurves
201