GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/expose-aba.cpp
Date: 2025-04-30 16:14:33
Exec Total Coverage
Lines: 20 24 83.3%
Branches: 32 64 50.0%
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1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 //
4
5 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
6 #include "pinocchio/bindings/python/utils/namespace.hpp"
7
8 #include "pinocchio/algorithm/aba.hpp"
9 #include "pinocchio/bindings/python/utils/eigen.hpp"
10 #include "pinocchio/bindings/python/utils/model-checker.hpp"
11
12 namespace pinocchio
13 {
14 namespace python
15 {
16
17 2 const context::Data::RowMatrixXs & computeMinverse_proxy(
18 const context::Model & model, context::Data & data, const context::VectorXs & q)
19 {
20 2 computeMinverse(model, data, q);
21 2 make_symmetric(data.Minv);
22 2 return data.Minv;
23 }
24
25 const context::Data::RowMatrixXs &
26 ✗ computeMinverse_min_proxy(const context::Model & model, context::Data & data)
27 {
28 ✗ pinocchio::computeMinverse(model, data);
29 ✗ make_symmetric(data.Minv);
30 ✗ return data.Minv;
31 }
32
33 72 void exposeABA()
34 {
35 typedef context::Scalar Scalar;
36 typedef context::VectorXs VectorXs;
37 enum
38 {
39 Options = context::Options
40 };
41
42
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 72 bp::def(
43
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 144 "computeMinverse", &computeMinverse_proxy, bp::args("model", "data", "q"),
44 "Computes the inverse of the joint space inertia matrix using an extension of the "
45 "Articulated Body algorithm.\n"
46 "The result is stored in data.Minv.\n"
47 "Parameters:\n"
48 "\t model: Model of the kinematic tree\n"
49 "\t data: Data related to the kinematic tree\n"
50 "\t q: joint configuration (size model.nq)",
51 72 mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0));
52
53
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 72 bp::def(
54 "aba", &aba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>,
55
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 216 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"), bp::arg("tau"),
56
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 144 bp::arg("convention") = pinocchio::Convention::LOCAL),
57 "Compute ABA, store the result in data.ddq and return it.\n"
58 "Parameters:\n"
59 "\t model: Model of the kinematic tree\n"
60 "\t data: Data related to the kinematic tree\n"
61 "\t q: joint configuration (size model.nq)\n"
62 "\t tau: joint velocity (size model.nv)\n"
63 "\t v: joint torque (size model.nv)"
64 "\t convention: Convention to use",
65 72 mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0));
66
67
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 72 bp::def(
68 "aba",
69 &aba<
70 Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs, context::Force>,
71
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72
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 216 bp::arg("fext"), bp::arg("convention") = pinocchio::Convention::LOCAL),
73 "Compute ABA with external forces, store the result in data.ddq and return it.\n"
74 "Parameters:\n"
75 "\t model: Model of the kinematic tree\n"
76 "\t data: Data related to the kinematic tree\n"
77 "\t q: joint configuration (size model.nq)\n"
78 "\t v: joint velocity (size model.nv)\n"
79 "\t tau: joint torque (size model.nv)\n"
80 "\t fext: vector of external forces expressed in the local frame of the joint (size "
81 "model.njoints)"
82 "\t convention: Convention to use",
83 72 mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0));
84
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 72 bp::def(
86
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 144 "computeMinverse", &computeMinverse_min_proxy, bp::args("model", "data"),
87 "Computes the inverse of the joint space inertia matrix using an extension of the "
88 "Articulated Body algorithm.\n"
89 "The result is stored in data.Minv.\n"
90 "Remarks: pinocchio.aba should have been called first.\n"
91 "Parameters:\n"
92 "\t model: Model of the kinematic tree\n"
93 "\t data: Data related to the kinematic tree",
94 72 mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0));
95 72 }
96
97 } // namespace python
98 } // namespace pinocchio
99