| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-energy.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 20 | 20 | 100.0% |
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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/energy.hpp" | ||
| 7 | |||
| 8 | #include "pinocchio/bindings/python/utils/model-checker.hpp" | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | namespace python | ||
| 13 | { | ||
| 14 | |||
| 15 | 72 | void exposeEnergy() | |
| 16 | { | ||
| 17 | typedef context::Scalar Scalar; | ||
| 18 | typedef context::VectorXs VectorXs; | ||
| 19 | enum | ||
| 20 | { | ||
| 21 | Options = context::Options | ||
| 22 | }; | ||
| 23 | |||
| 24 |
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72 | bp::def( |
| 25 | "computeKineticEnergy", | ||
| 26 | &computeKineticEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 27 |
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144 | bp::args("model", "data", "q", "v"), |
| 28 | "Computes the forward kinematics and the kinematic energy of the system for the " | ||
| 29 | "given joint configuration and velocity given as input. The result is accessible " | ||
| 30 | "through data.kinetic_energy.", | ||
| 31 | 72 | mimic_not_supported_function<>(0)); | |
| 32 | |||
| 33 |
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72 | bp::def( |
| 34 | "computeKineticEnergy", &computeKineticEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 35 |
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144 | bp::args("model", "data"), |
| 36 | "Computes the kinematic energy of the system for the " | ||
| 37 | "given joint placement and velocity stored in data. The result is accessible through " | ||
| 38 | "data.kinetic_energy.", | ||
| 39 | 72 | mimic_not_supported_function<>(0)); | |
| 40 | |||
| 41 |
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72 | bp::def( |
| 42 | "computePotentialEnergy", | ||
| 43 | &computePotentialEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 44 |
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144 | bp::args("model", "data", "q"), |
| 45 | "Computes the potential energy of the system for the " | ||
| 46 | "given the joint configuration given as input. The result is accessible through " | ||
| 47 | "data.potential_energy.", | ||
| 48 | 72 | mimic_not_supported_function<>(0)); | |
| 49 | |||
| 50 |
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72 | bp::def( |
| 51 | "computePotentialEnergy", | ||
| 52 | &computePotentialEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 53 |
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144 | bp::args("model", "data"), |
| 54 | "Computes the potential energy of the system for the " | ||
| 55 | "given joint placement stored in data. The result is accessible through " | ||
| 56 | "data.potential_energy.", | ||
| 57 | 72 | mimic_not_supported_function<>(0)); | |
| 58 | |||
| 59 |
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72 | bp::def( |
| 60 | "computeMechanicalEnergy", | ||
| 61 | &computeMechanicalEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 62 |
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144 | bp::args("model", "data", "q", "v"), |
| 63 | "Computes the forward kinematics and the kinematic energy of the system for the " | ||
| 64 | "given joint configuration and velocity given as input. The result is accessible through " | ||
| 65 | "data.mechanical_energy.\n" | ||
| 66 | "A byproduct of this function is the computation of both data.kinetic_energy and " | ||
| 67 | "data.potential_energy too.", | ||
| 68 | 72 | mimic_not_supported_function<>(0)); | |
| 69 | |||
| 70 |
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72 | bp::def( |
| 71 | "computeMechanicalEnergy", | ||
| 72 | &computeMechanicalEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 73 |
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144 | bp::args("model", "data"), |
| 74 | "Computes the mechanical energy of the system for the " | ||
| 75 | "given joint placement and velocity stored in data. The result is accessible through " | ||
| 76 | "data.mechanical_energy.\n" | ||
| 77 | "A byproduct of this function is the computation of both data.kinetic_energy and " | ||
| 78 | "data.potential_energy too.", | ||
| 79 | 72 | mimic_not_supported_function<>(0)); | |
| 80 | 72 | } | |
| 81 | |||
| 82 | } // namespace python | ||
| 83 | } // namespace pinocchio | ||
| 84 |