| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-rnea.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 17 | 23 | 73.9% |
| Branches: | 14 | 28 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2024 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/rnea.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | |||
| 13 | 69 | void exposeRNEA() | |
| 14 | { | ||
| 15 | typedef context::Scalar Scalar; | ||
| 16 | typedef context::VectorXs VectorXs; | ||
| 17 | enum | ||
| 18 | { | ||
| 19 | Options = context::Options | ||
| 20 | }; | ||
| 21 | |||
| 22 |
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69 | bp::def( |
| 23 | "rnea", &rnea<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>, | ||
| 24 |
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138 | bp::args("model", "data", "q", "v", "a"), |
| 25 | "Compute the RNEA, store the result in Data and return it.\n\n" | ||
| 26 | "Parameters:\n" | ||
| 27 | "\tmodel: model of the kinematic tree\n" | ||
| 28 | "\tdata: data related to the model\n" | ||
| 29 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 30 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 31 | "\ta: the joint acceleration vector (size model.nv)\n", | ||
| 32 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 33 | |||
| 34 |
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69 | bp::def( |
| 35 | "rnea", | ||
| 36 | &rnea< | ||
| 37 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs, context::Force>, | ||
| 38 |
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138 | bp::args("model", "data", "q", "v", "a", "fext"), |
| 39 | "Compute the RNEA with external forces, store the result in Data and return it.\n\n" | ||
| 40 | "Parameters:\n" | ||
| 41 | "\tmodel: model of the kinematic tree\n" | ||
| 42 | "\tdata: data related to the model\n" | ||
| 43 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 44 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 45 | "\ta: the joint acceleration vector (size model.nv)\n" | ||
| 46 | "\tfext: list of external forces expressed in the local frame of the joints (size " | ||
| 47 | "model.njoints)\n", | ||
| 48 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 49 | |||
| 50 |
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69 | bp::def( |
| 51 | "nonLinearEffects", | ||
| 52 | &nonLinearEffects<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 53 |
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138 | bp::args("model", "data", "q", "v"), |
| 54 | "Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), " | ||
| 55 | "store the result in Data and return it.\n\n" | ||
| 56 | "Parameters:\n" | ||
| 57 | "\tmodel: model of the kinematic tree\n" | ||
| 58 | "\tdata: data related to the model\n" | ||
| 59 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 60 | "\tv: the joint velocity vector (size model.nv)\n", | ||
| 61 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 62 | |||
| 63 |
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69 | bp::def( |
| 64 | "computeGeneralizedGravity", | ||
| 65 | &computeGeneralizedGravity<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 66 |
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138 | bp::args("model", "data", "q"), |
| 67 | "Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, store " | ||
| 68 | "the result in data.g and return it.\n\n" | ||
| 69 | "Parameters:\n" | ||
| 70 | "\tmodel: model of the kinematic tree\n" | ||
| 71 | "\tdata: data related to the model\n" | ||
| 72 | "\tq: the joint configuration vector (size model.nq)\n", | ||
| 73 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 74 | |||
| 75 |
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69 | bp::def( |
| 76 | "computeStaticTorque", | ||
| 77 | &computeStaticTorque<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 78 |
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138 | bp::args("model", "data", "q", "fext"), |
| 79 | "Computes the generalized static torque contribution g(q) - J.T f_ext of the " | ||
| 80 | "Lagrangian dynamics, store the result in data.tau and return it.\n\n" | ||
| 81 | "Parameters:\n" | ||
| 82 | "\tmodel: model of the kinematic tree\n" | ||
| 83 | "\tdata: data related to the model\n" | ||
| 84 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 85 | "\tfext: list of external forces expressed in the local frame of the joints (size " | ||
| 86 | "model.njoints)\n", | ||
| 87 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 88 | |||
| 89 |
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69 | bp::def( |
| 90 | "computeCoriolisMatrix", | ||
| 91 | &computeCoriolisMatrix<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 92 |
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138 | bp::args("model", "data", "q", "v"), |
| 93 | "Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, store the result in data.C " | ||
| 94 | "and return it.\n\n" | ||
| 95 | "Parameters:\n" | ||
| 96 | "\tmodel: model of the kinematic tree\n" | ||
| 97 | "\tdata: data related to the model\n" | ||
| 98 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 99 | "\tv: the joint velocity vector (size model.nv)\n", | ||
| 100 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 101 | |||
| 102 |
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69 | bp::def( |
| 103 | "getCoriolisMatrix", &getCoriolisMatrix<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 104 |
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138 | bp::args("model", "data"), |
| 105 | "Retrives the Coriolis Matrix C(q,v) of the Lagrangian dynamics after calling one of " | ||
| 106 | "the derivative algorithms, store the result in data.C and return it.\n\n" | ||
| 107 | "Parameters:\n" | ||
| 108 | "\tmodel: model of the kinematic tree\n" | ||
| 109 | "\tdata: data related to the model\n", | ||
| 110 | 69 | bp::return_value_policy<bp::return_by_value>()); | |
| 111 | 69 | } | |
| 112 | |||
| 113 | } // namespace python | ||
| 114 | } // namespace pinocchio | ||
| 115 |