GCC Code Coverage Report

Directory: ./
File: bindings/python/math/expose-eigen-types.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 19 21 90.5%
Branches: 2 4 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2020-2021 INRIA
3 //
4
5 #include "pinocchio/bindings/python/fwd.hpp"
6 #include "pinocchio/bindings/python/utils/registration.hpp"
7 #include "pinocchio/bindings/python/utils/std-vector.hpp"
8
9 #include <eigenpy/eigenpy.hpp>
10 #include <eigenpy/memory.hpp>
11
12 #include <Eigen/Geometry>
13 #include <eigenpy/geometry.hpp>
14 #include <eigenpy/quaternion.hpp>
15 #include <eigenpy/angle-axis.hpp>
16
17 #include <eigenpy/user-type.hpp>
18 #include <eigenpy/ufunc.hpp>
19
20 namespace pinocchio
21 {
22 namespace python
23 {
24
25 namespace bp = boost::python;
26
27 namespace internal
28 {
29 template<
30 typename Scalar,
31 bool is_numpy_native_type =
32 ((int)::eigenpy::NumpyEquivalentType<Scalar>::type_code != NPY_USERDEF)>
33 struct exposeTypeAlgo
34 {
35 65 static void run() {};
36 };
37
38 template<typename Scalar>
39 struct exposeTypeAlgo<Scalar, false>
40 {
41 4 static void run()
42 {
43 4 eigenpy::exposeType<context::Scalar>();
44 4 eigenpy::exposeType<context::Scalar, Eigen::RowMajor>();
45 4 };
46 };
47
48 template<typename Scalar>
49 69 void exposeType()
50 {
51 69 exposeTypeAlgo<Scalar>::run();
52 69 }
53 } // namespace internal
54
55 69 void exposeEigenTypes()
56 {
57 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
58
1/2
✗ Branch 1 not taken.
✓ Branch 2 taken 65 times.
 65 if (!register_symbolic_link_to_registered_type<context::Quaternion>())
59 ✗ eigenpy::expose<context::Quaternion>();
60
1/2
✗ Branch 1 not taken.
✓ Branch 2 taken 65 times.
 65 if (!register_symbolic_link_to_registered_type<context::AngleAxis>())
61 ✗ eigenpy::expose<context::AngleAxis>();
62 #endif
63
64 typedef Eigen::Matrix<context::Scalar, 6, 6, context::Options> Matrix6s;
65 typedef Eigen::Matrix<context::Scalar, 6, 1, context::Options> Vector6s;
66 typedef Eigen::Matrix<context::Scalar, 6, Eigen::Dynamic, context::Options> Matrix6xs;
67 typedef Eigen::Matrix<context::Scalar, 3, Eigen::Dynamic, context::Options> Matrix3xs;
68
69 69 internal::exposeType<context::Scalar>();
70 69 eigenpy::enableEigenPySpecific<context::Matrix1s>();
71 69 eigenpy::enableEigenPySpecific<Matrix6s>();
72 69 eigenpy::enableEigenPySpecific<Vector6s>();
73 69 eigenpy::enableEigenPySpecific<context::Vector7s>();
74 69 eigenpy::enableEigenPySpecific<Matrix6xs>();
75 69 eigenpy::enableEigenPySpecific<Matrix3xs>();
76 69 }
77
78 } // namespace python
79 } // namespace pinocchio
80