GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/spatial/force.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 58 80 72.5%
Branches: 70 152 46.1%
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1 //
2 // Copyright (c) 2015-2023 CNRS INRIA
3 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_python_spatial_force_hpp__
7 #define __pinocchio_python_spatial_force_hpp__
8
9 #include <eigenpy/eigenpy.hpp>
10 #include <eigenpy/memory.hpp>
11 #include <boost/python/tuple.hpp>
12
13 #include "pinocchio/spatial/se3.hpp"
14 #include "pinocchio/spatial/force.hpp"
15
16 #include "pinocchio/bindings/python/utils/cast.hpp"
17 #include "pinocchio/bindings/python/utils/copyable.hpp"
18 #include "pinocchio/bindings/python/utils/printable.hpp"
19
20 #if EIGENPY_VERSION_AT_MOST(2, 8, 1)
21 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Force)
22 #endif
23
24 namespace pinocchio
25 {
26 namespace python
27 {
28 namespace bp = boost::python;
29
30 template<typename T>
31 struct call;
32
33 template<typename Scalar, int Options>
34 struct call<ForceTpl<Scalar, Options>>
35 {
36 typedef ForceTpl<Scalar, Options> Force;
37
38 ✗ static bool isApprox(
39 const Force & self,
40 const Force & other,
41 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
42 {
43 ✗ return self.isApprox(other, prec);
44 }
45
46 static bool
47 ✗ isZero(const Force & self, const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
48 {
49 ✗ return self.isZero(prec);
50 }
51 };
52
53 template<typename Force>
54 struct ForcePythonVisitor : public boost::python::def_visitor<ForcePythonVisitor<Force>>
55 {
56 enum
57 {
58 Options = traits<Force>::Options
59 };
60
61 typedef typename Force::Vector6 Vector6;
62 typedef typename Force::Vector3 Vector3;
63 typedef typename Force::Scalar Scalar;
64
65 typedef typename Eigen::Map<Vector3> MapVector3;
66 typedef typename Eigen::Ref<Vector3> RefVector3;
67
68 template<class PyClass>
69 20 void visit(PyClass & cl) const
70 {
71 static const Scalar dummy_precision = Eigen::NumTraits<Scalar>::dummy_precision();
72 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
73 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED
74
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 20 cl.def(bp::init<>(bp::arg("self"), "Default constructor"))
75
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 40 .def(bp::init<const Vector3 &, const Vector3 &>(
76
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 60 (bp::arg("self"), bp::arg("linear"), bp::arg("angular")),
77 "Initialize from linear and angular components of a Wrench vector (don't mix the "
78 "order)."))
79
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 40 .def(bp::init<const Vector6 &>(
80 (bp::args("self", "array")), "Init from a vector 6 [force,torque]"))
81
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 40 .def(bp::init<const Force &>((bp::arg("self"), bp::arg("clone")), "Copy constructor"))
82
83
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 20 .add_property(
84 "linear",
85 bp::make_function(
86 20 &ForcePythonVisitor::getLinear, bp::with_custodian_and_ward_postcall<0, 1>()),
87 &ForcePythonVisitor::setLinear,
88 "Linear part of a *this, corresponding to the linear velocity in case of a "
89 "Spatial velocity.")
90
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 20 .add_property(
91 "angular",
92 bp::make_function(
93 20 &ForcePythonVisitor::getAngular, bp::with_custodian_and_ward_postcall<0, 1>()),
94 &ForcePythonVisitor::setAngular,
95 "Angular part of a *this, corresponding to the angular velocity in case of "
96 "a Spatial velocity.")
97
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 20 .add_property(
98 "vector",
99 bp::make_function(
100 (typename Force::ToVectorReturnType(Force::*)()) & Force::toVector,
101 20 bp::return_internal_reference<>()),
102 &ForcePythonVisitor::setVector, "Returns the components of *this as a 6d vector.")
103
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 20 .add_property(
104 "np", bp::make_function(
105 (typename Force::ToVectorReturnType(Force::*)()) & Force::toVector,
106 20 bp::return_internal_reference<>()))
107
108
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 40 .def(
109 "se3Action", &Force::template se3Action<Scalar, Options>, bp::args("self", "M"),
110 "Returns the result of the dual action of M on *this.")
111
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 40 .def(
112 "se3ActionInverse", &Force::template se3ActionInverse<Scalar, Options>,
113 bp::args("self", "M"),
114 "Returns the result of the dual action of the inverse of M on *this.")
115
116
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 40 .def(
117
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 40 "setZero", &ForcePythonVisitor::setZero, bp::arg("self"),
118 "Set the linear and angular components of *this to zero.")
119
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 20 .def(
120
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 40 "setRandom", &ForcePythonVisitor::setRandom, bp::arg("self"),
121 "Set the linear and angular components of *this to random values.")
122
123
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 40 .def(
124 "dot", (Scalar(Force::*)(const MotionDense<context::Motion> &) const) & Force::dot,
125 bp::args("self", "m"), "Dot product between *this and a Motion m.")
126
127
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 20 .def(bp::self + bp::self)
128
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 20 .def(bp::self += bp::self)
129
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 20 .def(bp::self - bp::self)
130
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 20 .def(bp::self -= bp::self)
131
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 20 .def(-bp::self)
132
133 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
134
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 20 .def(bp::self == bp::self)
135
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 20 .def(bp::self != bp::self)
136 #endif
137
138
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 20 .def(bp::self * Scalar())
139
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 20 .def(Scalar() * bp::self)
140
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 20 .def(bp::self / Scalar())
141
142 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
143
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 40 .def(
144 "isApprox", &call<Force>::isApprox,
145
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 60 (bp::arg("self"), bp::arg("other"), bp::arg("prec") = dummy_precision),
146 "Returns true if *this is approximately equal to other, within the precision given "
147 "by prec.")
148
149
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 20 .def(
150
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 40 "isZero", &call<Force>::isZero, (bp::arg("self"), bp::arg("prec") = dummy_precision),
151 "Returns true if *this is approximately equal to the zero Force, within the "
152 "precision given by prec.")
153 #endif
154
155
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 20 .def("Random", &Force::Random, "Returns a random Force.")
156
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 20 .staticmethod("Random")
157
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 20 .def("Zero", &Force::Zero, "Returns a zero Force.")
158
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 20 .staticmethod("Zero")
159
160
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 20 .def(
161 "__array__", bp::make_function(
162 (typename Force::ToVectorReturnType(Force::*)()) & Force::toVector,
163 20 bp::return_internal_reference<>()))
164
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 20 .def("__array__", &__array__, bp::return_internal_reference<>())
165 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
166
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 20 .def_pickle(Pickle())
167 #endif
168 ;
169 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
170 20 }
171
172 20 static void expose()
173 {
174 typedef pinocchio::ForceBase<Force> ForceBase;
175 20 bp::objects::register_dynamic_id<ForceBase>();
176 20 bp::objects::register_conversion<Force, ForceBase>(false);
177
178 typedef pinocchio::ForceDense<Force> ForceDense;
179 20 bp::objects::register_dynamic_id<ForceBase>();
180 20 bp::objects::register_conversion<Force, ForceDense>(false);
181
182 #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0)
183 typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(Force) HolderType;
184 #else
185 typedef ::boost::python::detail::not_specified HolderType;
186 #endif
187 20 bp::class_<Force, HolderType>(
188 "Force",
189 "Force vectors, in se3* == F^6.\n\n"
190 "Supported operations ...",
191 bp::no_init)
192
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 20 .def(ForcePythonVisitor<Force>())
193
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 20 .def(CastVisitor<Force>())
194
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 20 .def(ExposeConstructorByCastVisitor<Force, ::pinocchio::Force>())
195
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 20 .def(CopyableVisitor<Force>())
196
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 20 .def(PrintableVisitor<Force>());
197 20 }
198
199 private:
200 ✗ static typename Force::ToVectorConstReturnType __array__(const Force & self, bp::object)
201 {
202 ✗ return self.toVector();
203 }
204
205 struct Pickle : bp::pickle_suite
206 {
207 ✗ static boost::python::tuple getinitargs(const Force & f)
208 {
209 ✗ return bp::make_tuple((Vector3)f.linear(), (Vector3)f.angular());
210 }
211
212 20 static bool getstate_manages_dict()
213 {
214 20 return true;
215 }
216 };
217
218 ✗ static RefVector3 getLinear(Force & self)
219 {
220 ✗ return self.linear();
221 }
222 ✗ static void setLinear(Force & self, const Vector3 & f)
223 {
224 ✗ self.linear(f);
225 }
226 ✗ static RefVector3 getAngular(Force & self)
227 {
228 ✗ return self.angular();
229 }
230 ✗ static void setAngular(Force & self, const Vector3 & n)
231 {
232 ✗ self.angular(n);
233 }
234
235 ✗ static void setZero(Force & self)
236 {
237 ✗ self.setZero();
238 }
239 ✗ static void setRandom(Force & self)
240 {
241 ✗ self.setRandom();
242 }
243
244 ✗ static void setVector(Force & self, const Vector6 & f)
245 {
246 ✗ self = f;
247 }
248 };
249
250 } // namespace python
251 } // namespace pinocchio
252
253 #endif // ifndef __pinocchio_python_spatial_force_hpp__
254