GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/expose-com.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 33 63 52.4%
Branches: 71 160 44.4%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 //
4
5 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
6 #include "pinocchio/algorithm/center-of-mass.hpp"
7
8 #include <boost/python/overloads.hpp>
9
10 namespace pinocchio
11 {
12 namespace python
13 {
14
15 2 static context::SE3::Vector3 com_0_proxy(
16 const context::Model & model,
17 context::Data & data,
18 const context::VectorXs & q,
19 bool computeSubtreeComs = true)
20 {
21 2 return centerOfMass(model, data, q, computeSubtreeComs);
22 }
23
24 ✗ static context::SE3::Vector3 com_1_proxy(
25 const context::Model & model,
26 context::Data & data,
27 const context::VectorXs & q,
28 const context::VectorXs & v,
29 bool computeSubtreeComs = true)
30 {
31 ✗ return centerOfMass(model, data, q, v, computeSubtreeComs);
32 }
33
34 ✗ static context::SE3::Vector3 com_2_proxy(
35 const context::Model & model,
36 context::Data & data,
37 const context::VectorXs & q,
38 const context::VectorXs & v,
39 const context::VectorXs & a,
40 bool computeSubtreeComs = true)
41 {
42 ✗ return centerOfMass(model, data, q, v, a, computeSubtreeComs);
43 }
44
45 ✗ static const context::Data::Vector3 & com_level_proxy(
46 const context::Model & model,
47 context::Data & data,
48 KinematicLevel kinematic_level,
49 bool computeSubtreeComs = true)
50 {
51 ✗ return centerOfMass(model, data, kinematic_level, computeSubtreeComs);
52 }
53
54 ✗ static const context::Data::Vector3 & com_default_proxy(
55 const context::Model & model, context::Data & data, bool computeSubtreeComs = true)
56 {
57 ✗ return centerOfMass(model, data, computeSubtreeComs);
58 }
59
60 ✗ static context::Data::Matrix3x jacobian_subtree_com_kinematics_proxy(
61 const context::Model & model,
62 context::Data & data,
63 const context::VectorXs & q,
64 context::Model::JointIndex jointId)
65 {
66 ✗ context::Data::Matrix3x J(3, model.nv);
67 ✗ J.setZero();
68 ✗ jacobianSubtreeCenterOfMass(model, data, q, jointId, J);
69
70 ✗ return J;
71 }
72
73 ✗ static context::Data::Matrix3x jacobian_subtree_com_proxy(
74 const context::Model & model, context::Data & data, context::Model::JointIndex jointId)
75 {
76 ✗ context::Data::Matrix3x J(3, model.nv);
77 ✗ J.setZero();
78 ✗ jacobianSubtreeCenterOfMass(model, data, jointId, J);
79
80 ✗ return J;
81 }
82
83 ✗ static context::Data::Matrix3x get_jacobian_subtree_com_proxy(
84 const context::Model & model, context::Data & data, context::Model::JointIndex jointId)
85 {
86 ✗ context::Data::Matrix3x J(3, model.nv);
87 ✗ J.setZero();
88 ✗ getJacobianSubtreeCenterOfMass(model, data, jointId, J);
89
90 ✗ return J;
91 }
92
93 20 void exposeCOM()
94 {
95 typedef context::Scalar Scalar;
96 typedef context::VectorXs VectorXs;
97 enum
98 {
99 Options = context::Options
100 };
101
102
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 20 bp::def(
103 "computeTotalMass",
104 (Scalar(*)(const context::Model &))
105 & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
106 40 bp::args("model"), "Compute the total mass of the model and return it.");
107
108
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 20 bp::def(
109 "computeTotalMass",
110 (Scalar(*)(const context::Model &, context::Data &))
111 & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
112 40 bp::args("model", "data"),
113 "Compute the total mass of the model, put it in data.mass[0] and return it.");
114
115
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 20 bp::def(
116 "computeSubtreeMasses",
117 (void (*)(const context::Model &, context::Data &))
118 & computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
119 40 bp::args("model", "data"),
120 "Compute the mass of each kinematic subtree and store it in the vector data.mass.");
121
122
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 20 bp::def(
123 "centerOfMass", com_0_proxy,
124
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 40 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("compute_subtree_coms") = true),
125 "Compute the center of mass, putting the result in context::Data and return it."
126 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
127 "subtrees.",
128 ✗ bp::return_value_policy<bp::return_by_value>());
129
130
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 20 bp::def(
131 "centerOfMass", com_1_proxy,
132
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 60 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"),
133
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 40 bp::arg("compute_subtree_coms") = true),
134 "Computes the center of mass position and velocity by storing the result in context::Data. "
135 "It returns the center of mass position expressed in the WORLD frame.\n"
136 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
137 "subtrees.",
138 ✗ bp::return_value_policy<bp::return_by_value>());
139
140
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 20 bp::def(
141 "centerOfMass", com_2_proxy,
142
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 60 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"), bp::arg("a"),
143
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 40 bp::arg("compute_subtree_coms") = true),
144 "Computes the center of mass position, velocity and acceleration by storing the result in "
145 "context::Data. It returns the center of mass position expressed in the WORLD frame.\n"
146 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
147 "subtrees.",
148 ✗ bp::return_value_policy<bp::return_by_value>());
149
150
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 20 bp::def(
151 "centerOfMass", com_level_proxy,
152
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 60 (bp::arg("model"), bp::arg("data"), bp::arg("kinematic_level"),
153
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 40 bp::arg("compute_subtree_coms") = true),
154 "Computes the center of mass position, velocity or acceleration of a given model according "
155 "to the current kinematic values contained in data and the requested kinematic_level.\n"
156 "If kinematic_level = POSITION, computes the CoM position, if kinematic_level = VELOCITY, "
157 "also computes the CoM velocity and if kinematic_level = ACCELERATION, it also computes "
158 "the CoM acceleration.\n"
159 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
160 "subtrees.",
161 ✗ bp::return_value_policy<bp::return_by_value>());
162
163
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 20 bp::def(
164 "centerOfMass", com_default_proxy,
165
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 40 (bp::arg("model"), bp::arg("data"), bp::arg("compute_subtree_coms") = true),
166 "Computes the center of mass position, velocity and acceleration of a given model "
167 "according to the current kinematic values contained in data.\n"
168 "If compute_subtree_coms is True, the algorithm also computes the center of mass of "
169 "the subtrees.",
170 ✗ bp::return_value_policy<bp::return_by_value>());
171
172
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 20 bp::def(
173 "jacobianCenterOfMass",
174 (const context::Data::Matrix3x & (*)(const context::Model &, context::Data &,
175 const Eigen::MatrixBase<VectorXs> &, bool))
176 & jacobianCenterOfMass<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
177
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 40 (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("compute_subtree_coms") = true),
178 "Computes the Jacobian of the center of mass, puts the result in context::Data and return "
179 "it.\n"
180 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
181 "subtrees.",
182 ✗ bp::return_value_policy<bp::return_by_value>());
183
184
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 20 bp::def(
185 "jacobianCenterOfMass",
186 (const context::Data::Matrix3x & (*)(const context::Model &, context::Data &, bool))
187 & jacobianCenterOfMass<Scalar, Options, JointCollectionDefaultTpl>,
188
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 40 (bp::arg("model"), bp::arg("data"), bp::arg("compute_subtree_coms") = true),
189 "Computes the Jacobian of the center of mass, puts the result in context::Data and "
190 "return it.\n"
191 "If compute_subtree_coms is True, the algorithm also computes the center of mass of "
192 "the subtrees.",
193 ✗ bp::return_value_policy<bp::return_by_value>());
194
195
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 20 bp::def(
196 "jacobianSubtreeCenterOfMass", jacobian_subtree_com_kinematics_proxy,
197 40 bp::args("model", "data", "q", "subtree_root_joint_id"),
198 "Computes the Jacobian of the CoM of the given subtree (subtree_root_joint_id) "
199 "expressed in the WORLD frame, according to the given joint configuration.");
200
201
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 20 bp::def(
202 "jacobianSubtreeCenterOfMass", jacobian_subtree_com_proxy,
203 40 bp::args("model", "data", "subtree_root_joint_id"),
204 "Computes the Jacobian of the CoM of the given subtree (subtree_root_joint_id) "
205 "expressed in the WORLD frame, according to the given entries in data.");
206
207
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 20 bp::def(
208 "getJacobianSubtreeCenterOfMass", get_jacobian_subtree_com_proxy,
209 40 bp::args("model", "data", "subtree_root_joint_id"),
210 "Get the Jacobian of the CoM of the given subtree expressed in the world frame, "
211 "according to the given entries in data. It assumes that jacobianCenterOfMass has "
212 "been called first.");
213 20 }
214
215 } // namespace python
216 } // namespace pinocchio
217