| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-centroidal.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 20 | 26 | 76.9% |
| Branches: | 16 | 32 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/centroidal.hpp" | ||
| 7 | #include "pinocchio/bindings/python/utils/model-checker.hpp" | ||
| 8 | |||
| 9 | namespace pinocchio | ||
| 10 | { | ||
| 11 | namespace python | ||
| 12 | { | ||
| 13 | |||
| 14 | 72 | void exposeCentroidal() | |
| 15 | { | ||
| 16 | typedef context::Scalar Scalar; | ||
| 17 | typedef context::VectorXs VectorXs; | ||
| 18 | enum | ||
| 19 | { | ||
| 20 | Options = context::Options | ||
| 21 | }; | ||
| 22 | |||
| 23 |
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72 | bp::def( |
| 24 | "computeCentroidalMomentum", | ||
| 25 | &computeCentroidalMomentum<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 26 |
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144 | bp::args("model", "data"), |
| 27 | "Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed " | ||
| 28 | "around the center of mass.", | ||
| 29 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 30 | |||
| 31 |
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72 | bp::def( |
| 32 | "computeCentroidalMomentum", | ||
| 33 | &computeCentroidalMomentum<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 34 |
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144 | bp::args("model", "data", "q", "v"), |
| 35 | "Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed " | ||
| 36 | "around the center of mass.", | ||
| 37 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 38 | |||
| 39 |
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72 | bp::def( |
| 40 | "computeCentroidalMomentumTimeVariation", | ||
| 41 | &computeCentroidalMomentumTimeVariation<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 42 |
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144 | bp::args("model", "data"), |
| 43 | "Computes the Centroidal momentum and its time derivatives, a.k.a. the total " | ||
| 44 | "momentum of the system and its time derivative expressed around the center of mass.", | ||
| 45 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 46 | |||
| 47 |
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72 | bp::def( |
| 48 | "computeCentroidalMomentumTimeVariation", | ||
| 49 | &computeCentroidalMomentumTimeVariation< | ||
| 50 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>, | ||
| 51 |
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144 | bp::args("model", "data", "q", "v", "a"), |
| 52 | "Computes the Centroidal momentum and its time derivatives, a.k.a. the total " | ||
| 53 | "momentum of the system and its time derivative expressed around the center of mass.", | ||
| 54 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 55 | |||
| 56 |
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72 | bp::def( |
| 57 | "ccrba", &ccrba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 58 |
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144 | bp::args("model", "data", "q", "v"), |
| 59 | "Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite " | ||
| 60 | "Rigid Body Inertia, puts the result in Data and returns the centroidal mapping." | ||
| 61 | "For the same price, it also computes the total joint jacobians (data.J).", | ||
| 62 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 63 | |||
| 64 |
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72 | bp::def( |
| 65 | "computeCentroidalMap", | ||
| 66 | &computeCentroidalMap<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 67 |
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144 | bp::args("model", "data", "q"), |
| 68 | "Computes the centroidal mapping, puts the result in Data.Ag and returns the " | ||
| 69 | "centroidal mapping.\n" | ||
| 70 | "For the same price, it also computes the total joint jacobians (data.J).", | ||
| 71 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 72 | |||
| 73 |
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72 | bp::def( |
| 74 | "dccrba", dccrba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 75 |
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144 | bp::args("model", "data", "q", "v"), |
| 76 | "Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v.\n" | ||
| 77 | "For the same price, it also computes the centroidal momentum matrix (data.Ag), the total " | ||
| 78 | "joint jacobians (data.J) " | ||
| 79 | "and the related joint jacobians time derivative (data.dJ)", | ||
| 80 | 72 | mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0)); | |
| 81 | |||
| 82 |
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72 | bp::def( |
| 83 | "computeCentroidalMapTimeVariation", | ||
| 84 | computeCentroidalMapTimeVariation< | ||
| 85 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 86 |
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144 | bp::args("model", "data", "q", "v"), |
| 87 | "Computes the time derivative of the centroidal momentum matrix Ag, puts the result " | ||
| 88 | "in Data.Ag and returns the centroidal mapping.\n" | ||
| 89 | "For the same price, it also computes the centroidal momentum matrix (data.Ag), the " | ||
| 90 | "total joint jacobians (data.J) " | ||
| 91 | "and the related joint jacobians time derivative (data.dJ)", | ||
| 92 | 72 | mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0)); | |
| 93 | 72 | } | |
| 94 | |||
| 95 | } // namespace python | ||
| 96 | } // namespace pinocchio | ||
| 97 |