GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/expose-constrained-dynamics.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 19 24 79.2%
Branches: 14 26 53.8%
Line Branch Exec Source
1 //
2 // Copyright (c) 2020-2021 INRIA
3 //
4
5 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
6 #include "pinocchio/bindings/python/algorithm/contact-info.hpp"
7 #include "pinocchio/bindings/python/algorithm/proximal.hpp"
8 #include "pinocchio/bindings/python/algorithm/contact-cholesky.hpp"
9
10 #include "pinocchio/bindings/python/utils/std-vector.hpp"
11 #include "pinocchio/bindings/python/utils/registration.hpp"
12
13 #include "pinocchio/algorithm/constrained-dynamics.hpp"
14
15 namespace bp = boost::python;
16
17 namespace pinocchio
18 {
19 namespace python
20 {
21
22 typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(context::RigidConstraintModel)
23 RigidConstraintModelVector;
24 typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(context::RigidConstraintData)
25 RigidConstraintDataVector;
26
27 #ifndef PINOCCHIO_PYTHON_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
28
29 ✗ static const context::VectorXs constraintDynamics_proxy(
30 const context::Model & model,
31 context::Data & data,
32 const context::VectorXs & q,
33 const context::VectorXs & v,
34 const context::VectorXs & tau,
35 const RigidConstraintModelVector & contact_models,
36 RigidConstraintDataVector & contact_datas,
37 context::ProximalSettings & prox_settings)
38 {
39 ✗ return constraintDynamics(
40 ✗ model, data, q, v, tau, contact_models, contact_datas, prox_settings);
41 }
42
43 ✗ static const context::VectorXs constraintDynamics_proxy_default(
44 const context::Model & model,
45 context::Data & data,
46 const context::VectorXs & q,
47 const context::VectorXs & v,
48 const context::VectorXs & tau,
49 const RigidConstraintModelVector & contact_models,
50 RigidConstraintDataVector & contact_datas)
51 {
52 ✗ return constraintDynamics(model, data, q, v, tau, contact_models, contact_datas);
53 }
54
55 #endif // PINOCCHIO_PYTHON_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
56
57 69 void exposeConstraintDynamics()
58 {
59 using namespace Eigen;
60
61 // Expose type of contacts
62
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 69 if (!register_symbolic_link_to_registered_type<ContactType>())
63 {
64 130 bp::enum_<ContactType>("ContactType")
65
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 65 .value("CONTACT_3D", CONTACT_3D)
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 65 .value("CONTACT_6D", CONTACT_6D)
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 65 .value("CONTACT_UNDEFINED", CONTACT_UNDEFINED);
68 }
69
70 69 ProximalSettingsPythonVisitor<context::ProximalSettings>::expose();
71
72 69 RigidConstraintModelPythonVisitor<context::RigidConstraintModel>::expose();
73 69 RigidConstraintDataPythonVisitor<context::RigidConstraintData>::expose();
74
75
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 69 StdVectorPythonVisitor<RigidConstraintModelVector>::expose("StdVec_RigidConstraintModel");
76
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 69 StdVectorPythonVisitor<RigidConstraintDataVector>::expose("StdVec_RigidConstraintData");
78
79 #ifndef PINOCCHIO_PYTHON_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
80 65 ContactCholeskyDecompositionPythonVisitor<context::ContactCholeskyDecomposition>::expose();
81
82
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 65 bp::def(
83 "initConstraintDynamics",
84 &initConstraintDynamics<
85 context::Scalar, context::Options, JointCollectionDefaultTpl,
86 typename RigidConstraintModelVector::allocator_type>,
87 130 bp::args("model", "data", "contact_models"),
88 "This function allows to allocate the memory before hand for contact dynamics algorithms.\n"
89 "This allows to avoid online memory allocation when running these algorithms.");
90
91
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 65 bp::def(
92 "constraintDynamics", constraintDynamics_proxy,
93 130 bp::args(
94 "model", "data", "q", "v", "tau", "contact_models", "contact_datas", "prox_settings"),
95 "Computes the forward dynamics with contact constraints according to a given list of "
96 "Contact information.\n"
97 "When using constraintDynamics for the first time, you should call first "
98 "initConstraintDynamics to initialize the internal memory used in the algorithm.\n"
99 "This function returns joint acceleration of the system. The contact forces are "
100 "stored in the list data.contact_forces.");
101
102
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 65 bp::def(
103 "constraintDynamics", constraintDynamics_proxy_default,
104 130 bp::args("model", "data", "q", "v", "tau", "contact_models", "contact_datas"),
105 "Computes the forward dynamics with contact constraints according to a given list of "
106 "Contact information.\n"
107 "When using constraintDynamics for the first time, you should call first "
108 "initConstraintDynamics to initialize the internal memory used in the algorithm.\n"
109 "This function returns joint acceleration of the system. The contact forces are "
110 "stored in the list data.contact_forces.");
111
112 #endif // PINOCCHIO_PYTHON_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
113 69 }
114 } // namespace python
115 } // namespace pinocchio
116