GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/expose-aba.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 17 24 70.8%
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
11 namespace pinocchio
12 {
13 namespace python
14 {
15
16 2 const context::Data::RowMatrixXs & computeMinverse_proxy(
17 const context::Model & model, context::Data & data, const context::VectorXs & q)
18 {
19 2 computeMinverse(model, data, q);
20 2 make_symmetric(data.Minv);
21 2 return data.Minv;
22 }
23
24 const context::Data::RowMatrixXs &
25 ✗ computeMinverse_min_proxy(const context::Model & model, context::Data & data)
26 {
27 ✗ pinocchio::computeMinverse(model, data);
28 ✗ make_symmetric(data.Minv);
29 ✗ return data.Minv;
30 }
31
32 69 void exposeABA()
33 {
34 typedef context::Scalar Scalar;
35 typedef context::VectorXs VectorXs;
36 enum
37 {
38 Options = context::Options
39 };
40
41
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 69 bp::def(
42
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 138 "computeMinverse", &computeMinverse_proxy, bp::args("model", "data", "q"),
43 "Computes the inverse of the joint space inertia matrix using an extension of the "
44 "Articulated Body algorithm.\n"
45 "The result is stored in data.Minv.\n"
46 "Parameters:\n"
47 "\t model: Model of the kinematic tree\n"
48 "\t data: Data related to the kinematic tree\n"
49 "\t q: joint configuration (size model.nq)",
50 ✗ bp::return_value_policy<bp::return_by_value>());
51
52
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 69 bp::def(
53 "aba", &aba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>,
54
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 207 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"), bp::arg("tau"),
55
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 138 bp::arg("convention") = pinocchio::Convention::LOCAL),
56 "Compute ABA, store the result in data.ddq and return it.\n"
57 "Parameters:\n"
58 "\t model: Model of the kinematic tree\n"
59 "\t data: Data related to the kinematic tree\n"
60 "\t q: joint configuration (size model.nq)\n"
61 "\t tau: joint velocity (size model.nv)\n"
62 "\t v: joint torque (size model.nv)"
63 "\t convention: Convention to use",
64 ✗ bp::return_value_policy<bp::return_by_value>());
65
66
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 69 bp::def(
67 "aba",
68 &aba<
69 Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs, context::Force>,
70
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 207 bp::arg("fext"), bp::arg("convention") = pinocchio::Convention::LOCAL),
72 "Compute ABA with external forces, store the result in data.ddq and return it.\n"
73 "Parameters:\n"
74 "\t model: Model of the kinematic tree\n"
75 "\t data: Data related to the kinematic tree\n"
76 "\t q: joint configuration (size model.nq)\n"
77 "\t v: joint velocity (size model.nv)\n"
78 "\t tau: joint torque (size model.nv)\n"
79 "\t fext: vector of external forces expressed in the local frame of the joint (size "
80 "model.njoints)"
81 "\t convention: Convention to use",
82 ✗ bp::return_value_policy<bp::return_by_value>());
83
84
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 69 bp::def(
85
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 138 "computeMinverse", &computeMinverse_min_proxy, bp::args("model", "data"),
86 "Computes the inverse of the joint space inertia matrix using an extension of the "
87 "Articulated Body algorithm.\n"
88 "The result is stored in data.Minv.\n"
89 "Remarks: pinocchio.aba should have been called first.\n"
90 "Parameters:\n"
91 "\t model: Model of the kinematic tree\n"
92 "\t data: Data related to the kinematic tree",
93 69 bp::return_value_policy<bp::return_by_value>());
94 69 }
95
96 } // namespace python
97 } // namespace pinocchio
98