| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-frames-derivatives.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 28 | 40 | 70.0% |
| Branches: | 24 | 80 | 30.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include <boost/python/tuple.hpp> | ||
| 6 | |||
| 7 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 8 | #include "pinocchio/algorithm/frames-derivatives.hpp" | ||
| 9 | |||
| 10 | #include "pinocchio/bindings/python/utils/model-checker.hpp" | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | namespace python | ||
| 15 | { | ||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | 3 | bp::tuple getFrameVelocityDerivatives_proxy1( | |
| 19 | const context::Model & model, | ||
| 20 | context::Data & data, | ||
| 21 | const context::Model::FrameIndex frame_id, | ||
| 22 | ReferenceFrame rf) | ||
| 23 | { | ||
| 24 | typedef context::Data::Matrix6x Matrix6x; | ||
| 25 | |||
| 26 |
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3 | Matrix6x partial_dq(Matrix6x::Zero(6, model.nv)); |
| 27 |
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3 | Matrix6x partial_dv(Matrix6x::Zero(6, model.nv)); |
| 28 | |||
| 29 |
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3 | getFrameVelocityDerivatives(model, data, frame_id, rf, partial_dq, partial_dv); |
| 30 | |||
| 31 |
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6 | return bp::make_tuple(partial_dq, partial_dv); |
| 32 | 3 | } | |
| 33 | |||
| 34 | ✗ | bp::tuple getFrameVelocityDerivatives_proxy2( | |
| 35 | const context::Model & model, | ||
| 36 | context::Data & data, | ||
| 37 | const context::Model::JointIndex joint_id, | ||
| 38 | const context::SE3 & placement, | ||
| 39 | ReferenceFrame rf) | ||
| 40 | { | ||
| 41 | typedef context::Data::Matrix6x Matrix6x; | ||
| 42 | |||
| 43 | ✗ | Matrix6x partial_dq(Matrix6x::Zero(6, model.nv)); | |
| 44 | ✗ | Matrix6x partial_dv(Matrix6x::Zero(6, model.nv)); | |
| 45 | |||
| 46 | ✗ | getFrameVelocityDerivatives(model, data, joint_id, placement, rf, partial_dq, partial_dv); | |
| 47 | |||
| 48 | ✗ | return bp::make_tuple(partial_dq, partial_dv); | |
| 49 | } | ||
| 50 | |||
| 51 | 3 | bp::tuple getFrameAccelerationDerivatives_proxy1( | |
| 52 | const context::Model & model, | ||
| 53 | context::Data & data, | ||
| 54 | const context::Model::FrameIndex frame_id, | ||
| 55 | ReferenceFrame rf) | ||
| 56 | { | ||
| 57 | typedef context::Data::Matrix6x Matrix6x; | ||
| 58 | |||
| 59 |
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3 | Matrix6x v_partial_dq(Matrix6x::Zero(6, model.nv)); |
| 60 |
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3 | Matrix6x a_partial_dq(Matrix6x::Zero(6, model.nv)); |
| 61 |
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3 | Matrix6x a_partial_dv(Matrix6x::Zero(6, model.nv)); |
| 62 |
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3 | Matrix6x a_partial_da(Matrix6x::Zero(6, model.nv)); |
| 63 | |||
| 64 |
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3 | getFrameAccelerationDerivatives( |
| 65 | model, data, frame_id, rf, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | ||
| 66 | |||
| 67 |
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6 | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
| 68 | 3 | } | |
| 69 | |||
| 70 | ✗ | bp::tuple getFrameAccelerationDerivatives_proxy2( | |
| 71 | const context::Model & model, | ||
| 72 | context::Data & data, | ||
| 73 | const context::Model::JointIndex joint_id, | ||
| 74 | const context::SE3 & placement, | ||
| 75 | ReferenceFrame rf) | ||
| 76 | { | ||
| 77 | typedef context::Data::Matrix6x Matrix6x; | ||
| 78 | |||
| 79 | ✗ | Matrix6x v_partial_dq(Matrix6x::Zero(6, model.nv)); | |
| 80 | ✗ | Matrix6x a_partial_dq(Matrix6x::Zero(6, model.nv)); | |
| 81 | ✗ | Matrix6x a_partial_dv(Matrix6x::Zero(6, model.nv)); | |
| 82 | ✗ | Matrix6x a_partial_da(Matrix6x::Zero(6, model.nv)); | |
| 83 | |||
| 84 | ✗ | getFrameAccelerationDerivatives( | |
| 85 | model, data, joint_id, placement, rf, v_partial_dq, a_partial_dq, a_partial_dv, | ||
| 86 | a_partial_da); | ||
| 87 | |||
| 88 | ✗ | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | |
| 89 | } | ||
| 90 | |||
| 91 | 72 | void exposeFramesDerivatives() | |
| 92 | { | ||
| 93 | using namespace Eigen; | ||
| 94 | |||
| 95 |
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72 | bp::def( |
| 96 | "getFrameVelocityDerivatives", getFrameVelocityDerivatives_proxy1, | ||
| 97 |
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144 | bp::args("model", "data", "frame_id", "reference_frame"), |
| 98 | "Computes the partial derivatives of the spatial velocity of a given frame with respect " | ||
| 99 | "to\n" | ||
| 100 | "the joint configuration and velocity and returns them as a tuple.\n" | ||
| 101 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
| 102 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
| 103 | "reference_frame.\n" | ||
| 104 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
| 105 | "Parameters:\n" | ||
| 106 | "\tmodel: model of the kinematic tree\n" | ||
| 107 | "\tdata: data related to the model\n" | ||
| 108 | "\tframe_id: index of the frame\n" | ||
| 109 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n", | ||
| 110 | 72 | mimic_not_supported_function<>(0)); | |
| 111 | |||
| 112 |
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72 | bp::def( |
| 113 | "getFrameVelocityDerivatives", getFrameVelocityDerivatives_proxy2, | ||
| 114 |
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144 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), |
| 115 | "Computes the partial derivatives of the spatial velocity of a frame given by its relative " | ||
| 116 | "placement, with respect to\n" | ||
| 117 | "the joint configuration and velocity and returns them as a tuple.\n" | ||
| 118 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
| 119 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
| 120 | "reference_frame.\n" | ||
| 121 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
| 122 | "Parameters:\n" | ||
| 123 | "\tmodel: model of the kinematic tree\n" | ||
| 124 | "\tdata: data related to the model\n" | ||
| 125 | "\tjoint_id: index of the joint\n" | ||
| 126 | "\tplacement: placement of the Frame w.r.t. the joint frame.\n" | ||
| 127 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n", | ||
| 128 | 72 | mimic_not_supported_function<>(0)); | |
| 129 | |||
| 130 |
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72 | bp::def( |
| 131 | "getFrameAccelerationDerivatives", getFrameAccelerationDerivatives_proxy1, | ||
| 132 |
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144 | bp::args("model", "data", "frame_id", "reference_frame"), |
| 133 | "Computes the partial derivatives of the spatial acceleration of a given frame with " | ||
| 134 | "respect to\n" | ||
| 135 | "the joint configuration, velocity and acceleration and returns them as a tuple.\n" | ||
| 136 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
| 137 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
| 138 | "reference_frame.\n" | ||
| 139 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
| 140 | "Parameters:\n" | ||
| 141 | "\tmodel: model of the kinematic tree\n" | ||
| 142 | "\tdata: data related to the model\n" | ||
| 143 | "\tframe_id: index of the frame\n" | ||
| 144 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n", | ||
| 145 | 72 | mimic_not_supported_function<>(0)); | |
| 146 | |||
| 147 |
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72 | bp::def( |
| 148 | "getFrameAccelerationDerivatives", getFrameAccelerationDerivatives_proxy2, | ||
| 149 |
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144 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), |
| 150 | "Computes the partial derivatives of the spatial acceleration of a frame given by its " | ||
| 151 | "relative placement, with respect to\n" | ||
| 152 | "the joint configuration, velocity and acceleration and returns them as a tuple.\n" | ||
| 153 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
| 154 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
| 155 | "reference_frame.\n" | ||
| 156 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
| 157 | "Parameters:\n" | ||
| 158 | "\tmodel: model of the kinematic tree\n" | ||
| 159 | "\tdata: data related to the model\n" | ||
| 160 | "\tjoint_id: index of the joint\n" | ||
| 161 | "\tplacement: placement of the Frame w.r.t. the joint frame.\n" | ||
| 162 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n", | ||
| 163 | 72 | mimic_not_supported_function<>(0)); | |
| 164 | 72 | } | |
| 165 | |||
| 166 | } // namespace python | ||
| 167 | } // namespace pinocchio | ||
| 168 |