| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-aba-derivatives.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 22 | 30 | 73.3% |
| Branches: | 14 | 40 | 35.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2018-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
| 7 | #include "pinocchio/algorithm/aba-derivatives.hpp" | ||
| 8 | #include "pinocchio/bindings/python/utils/eigen.hpp" | ||
| 9 | #include "pinocchio/bindings/python/utils/model-checker.hpp" | ||
| 10 | |||
| 11 | #include <eigenpy/eigen-to-python.hpp> | ||
| 12 | |||
| 13 | namespace pinocchio | ||
| 14 | { | ||
| 15 | namespace python | ||
| 16 | { | ||
| 17 | |||
| 18 | namespace bp = boost::python; | ||
| 19 | typedef PINOCCHIO_ALIGNED_STD_VECTOR(context::Force) ForceAlignedVector; | ||
| 20 | |||
| 21 | 2 | bp::tuple computeABADerivatives( | |
| 22 | const context::Model & model, | ||
| 23 | context::Data & data, | ||
| 24 | const context::VectorXs & q, | ||
| 25 | const context::VectorXs & v, | ||
| 26 | const context::VectorXs & tau) | ||
| 27 | { | ||
| 28 | 2 | pinocchio::computeABADerivatives(model, data, q, v, tau); | |
| 29 | 2 | make_symmetric(data.Minv); | |
| 30 |
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4 | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); |
| 31 | } | ||
| 32 | |||
| 33 | 1 | bp::tuple computeABADerivatives_fext( | |
| 34 | const context::Model & model, | ||
| 35 | context::Data & data, | ||
| 36 | const context::VectorXs & q, | ||
| 37 | const context::VectorXs & v, | ||
| 38 | const context::VectorXs & tau, | ||
| 39 | const ForceAlignedVector & fext) | ||
| 40 | { | ||
| 41 | 1 | pinocchio::computeABADerivatives(model, data, q, v, tau, fext); | |
| 42 | 1 | make_symmetric(data.Minv); | |
| 43 |
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2 | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); |
| 44 | } | ||
| 45 | |||
| 46 | ✗ | bp::tuple computeABADerivatives_min(const context::Model & model, context::Data & data) | |
| 47 | { | ||
| 48 | ✗ | pinocchio::computeABADerivatives(model, data); | |
| 49 | ✗ | make_symmetric(data.Minv); | |
| 50 | ✗ | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); | |
| 51 | } | ||
| 52 | |||
| 53 | ✗ | bp::tuple computeABADerivatives_min_fext( | |
| 54 | const context::Model & model, context::Data & data, const ForceAlignedVector & fext) | ||
| 55 | { | ||
| 56 | ✗ | pinocchio::computeABADerivatives(model, data, fext); | |
| 57 | ✗ | make_symmetric(data.Minv); | |
| 58 | ✗ | return bp::make_tuple(make_ref(data.ddq_dq), make_ref(data.ddq_dv), make_ref(data.Minv)); | |
| 59 | } | ||
| 60 | |||
| 61 | 72 | void exposeABADerivatives() | |
| 62 | { | ||
| 63 | using namespace Eigen; | ||
| 64 | |||
| 65 |
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72 | bp::def( |
| 66 |
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144 | "computeABADerivatives", computeABADerivatives, bp::args("model", "data", "q", "v", "tau"), |
| 67 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and " | ||
| 68 | "data.Minv (aka ddq_dtau)\n" | ||
| 69 | "which correspond to the partial derivatives of the joint acceleration vector output " | ||
| 70 | "with respect to the joint configuration,\n" | ||
| 71 | "velocity and torque vectors.\n\n" | ||
| 72 | "Parameters:\n" | ||
| 73 | "\tmodel: model of the kinematic tree\n" | ||
| 74 | "\tdata: data related to the model\n" | ||
| 75 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 76 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 77 | "\ttau: the joint torque vector (size model.nv)\n\n" | ||
| 78 | "Returns: (ddq_dq, ddq_dv, ddq_da)", | ||
| 79 | 72 | mimic_not_supported_function<>(0)); | |
| 80 | |||
| 81 |
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72 | bp::def( |
| 82 | "computeABADerivatives", computeABADerivatives_fext, | ||
| 83 |
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144 | bp::args("model", "data", "q", "v", "tau", "fext"), |
| 84 | "Computes the ABA derivatives with external contact foces,\n" | ||
| 85 | "store the result in data.ddq_dq, data.ddq_dv and data.Minv (aka ddq_dtau)\n" | ||
| 86 | "which correspond to the partial derivatives of the acceleration output with respect " | ||
| 87 | "to the joint configuration,\n" | ||
| 88 | "velocity and torque vectors.\n\n" | ||
| 89 | "Parameters:\n" | ||
| 90 | "\tmodel: model of the kinematic tree\n" | ||
| 91 | "\tdata: data related to the model\n" | ||
| 92 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 93 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 94 | "\ttau: the joint torque vector (size model.nv)\n" | ||
| 95 | "\tfext: list of external forces expressed in the local frame of the joints (size " | ||
| 96 | "model.njoints)\n\n" | ||
| 97 | "Returns: (ddq_dq, ddq_dv, ddq_da)", | ||
| 98 | 72 | mimic_not_supported_function<>(0)); | |
| 99 | |||
| 100 |
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72 | bp::def( |
| 101 |
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144 | "computeABADerivatives", computeABADerivatives_min, bp::args("model", "data"), |
| 102 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n" | ||
| 103 | "which correspond to the partial derivatives of the joint acceleration vector output with " | ||
| 104 | "respect to the joint configuration,\n" | ||
| 105 | "velocity and torque vectors.\n" | ||
| 106 | "By calling this function, the user assumes that pinocchio.optimized.aba has been called " | ||
| 107 | "first, allowing to significantly reduce the computation timings by not recalculating " | ||
| 108 | "intermediate results.", | ||
| 109 | 72 | mimic_not_supported_function<>(0)); | |
| 110 | |||
| 111 |
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72 | bp::def( |
| 112 |
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144 | "computeABADerivatives", computeABADerivatives_min_fext, bp::args("model", "data", "fext"), |
| 113 | "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n" | ||
| 114 | "which correspond to the partial derivatives of the joint acceleration vector output with " | ||
| 115 | "respect to the joint configuration,\n" | ||
| 116 | "velocity and torque vectors.\n" | ||
| 117 | "By calling this function, the user assumes that pinocchio.optimized.aba has been called " | ||
| 118 | "first, allowing to significantly reduce the computation timings by not recalculating " | ||
| 119 | "intermediate results.", | ||
| 120 | 72 | mimic_not_supported_function<>(0)); | |
| 121 | 72 | } | |
| 122 | } // namespace python | ||
| 123 | } // namespace pinocchio | ||
| 124 |