GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/expose-kinematics.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 19 19 100.0%
Branches: 28 56 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 //
4
5 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
6 #include "pinocchio/algorithm/kinematics.hpp"
7
8 namespace pinocchio
9 {
10 namespace python
11 {
12
13 69 void exposeKinematics()
14 {
15 typedef context::Scalar Scalar;
16 typedef context::VectorXs VectorXs;
17 enum
18 {
19 Options = context::Options
20 };
21
22
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
23 "updateGlobalPlacements",
24 &updateGlobalPlacements<Scalar, Options, JointCollectionDefaultTpl>,
25 138 bp::args("model", "data"),
26 "Updates the global placements of all joint frames of the kinematic "
27 "tree and store the results in data according to the relative placements of the joints.\n\n"
28 "Parameters:\n"
29 "\tmodel: model of the kinematic tree\n"
30 "\tdata: data related to the model\n");
31
32
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
33 "getVelocity", &getVelocity<Scalar, Options, JointCollectionDefaultTpl>,
34
4/8
✓ Branch 2 taken 69 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 69 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 69 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 69 times.
✗ Branch 12 not taken.
 207 (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"),
35
3/6
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 69 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 69 times.
✗ Branch 8 not taken.
 138 bp::arg("reference_frame") = LOCAL),
36 "Returns the spatial velocity of the joint expressed in the coordinate system given "
37 "by reference_frame.\n"
38 "forwardKinematics(model,data,q,v[,a]) should be called first to compute the joint "
39 "spatial velocity stored in data.v");
40
41
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
42 "getAcceleration", &getAcceleration<Scalar, Options, JointCollectionDefaultTpl>,
43
4/8
✓ Branch 2 taken 69 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 69 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 69 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 69 times.
✗ Branch 12 not taken.
 207 (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"),
44
3/6
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 69 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 69 times.
✗ Branch 8 not taken.
 138 bp::arg("reference_frame") = LOCAL),
45 "Returns the spatial acceleration of the joint expressed in the coordinate system "
46 "given by reference_frame.\n"
47 "forwardKinematics(model,data,q,v,a) should be called first to compute the joint "
48 "spatial acceleration stored in data.a .");
49
50
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
51 "getClassicalAcceleration",
52 &getClassicalAcceleration<Scalar, Options, JointCollectionDefaultTpl>,
53
4/8
✓ Branch 2 taken 69 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 69 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 69 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 69 times.
✗ Branch 12 not taken.
 207 (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"),
54
3/6
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 69 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 69 times.
✗ Branch 8 not taken.
 138 bp::arg("reference_frame") = LOCAL),
55 "Returns the \"classical\" acceleration of the joint expressed in the coordinate "
56 "system given by reference_frame.\n"
57 "forwardKinematics(model,data,q,v,a) should be called first to compute the joint "
58 "spatial acceleration stored in data.a .");
59
60
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
61 "forwardKinematics",
62 &forwardKinematics<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
63 138 bp::args("model", "data", "q"),
64 "Compute the global placements of all the joints of the kinematic "
65 "tree and store the results in data.\n\n"
66 "Parameters:\n"
67 "\tmodel: model of the kinematic tree\n"
68 "\tdata: data related to the model\n"
69 "\tq: the joint configuration vector (size model.nq)\n");
70
71
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
72 "forwardKinematics",
73 &forwardKinematics<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>,
74 138 bp::args("model", "data", "q", "v"),
75 "Compute the global placements and local spatial velocities of all the joints of the "
76 "kinematic "
77 "tree and store the results in data.\n\n"
78 "Parameters:\n"
79 "\tmodel: model of the kinematic tree\n"
80 "\tdata: data related to the model\n"
81 "\tq: the joint configuration vector (size model.nq)\n"
82 "\tv: the joint velocity vector (size model.nv)\n");
83
84
1/2
✓ Branch 1 taken 69 times.
✗ Branch 2 not taken.
 69 bp::def(
85 "forwardKinematics",
86 &forwardKinematics<
87 Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>,
88 138 bp::args("model", "data", "q", "v", "a"),
89 "Compute the global placements, local spatial velocities and spatial accelerations "
90 "of all the joints of the kinematic "
91 "tree and store the results in data.\n\n"
92 "Parameters:\n"
93 "\tmodel: model of the kinematic tree\n"
94 "\tdata: data related to the model\n"
95 "\tq: the joint configuration vector (size model.nq)\n"
96 "\tv: the joint velocity vector (size model.nv)\n"
97 "\ta: the joint acceleration vector (size model.nv)\n");
98 69 }
99
100 } // namespace python
101 } // namespace pinocchio
102