GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/frame.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 44 60 73.3%
Branches: 69 196 35.2%
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1 //
2 // Copyright (c) 2016-2022 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_python_multibody_frame_hpp__
6 #define __pinocchio_python_multibody_frame_hpp__
7
8 #include "pinocchio/multibody/fwd.hpp"
9 #include "pinocchio/multibody/frame.hpp"
10
11 #include "pinocchio/bindings/python/utils/deprecation.hpp"
12 #include "pinocchio/bindings/python/utils/cast.hpp"
13 #include "pinocchio/bindings/python/utils/copyable.hpp"
14 #include "pinocchio/bindings/python/utils/printable.hpp"
15 #include "pinocchio/bindings/python/utils/registration.hpp"
16
17 namespace pinocchio
18 {
19 namespace python
20 {
21 namespace bp = boost::python;
22
23 template<typename Frame>
24 struct FramePythonVisitor : public boost::python::def_visitor<FramePythonVisitor<Frame>>
25 {
26 typedef typename Frame::SE3 SE3;
27 typedef typename Frame::Inertia Inertia;
28
29 template<class PyClass>
30 20 void visit(PyClass & cl) const
31 {
32
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 20 cl.def(bp::init<>(bp::arg("self"), "Default constructor"))
33
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 40 .def(bp::init<const Frame &>(bp::args("self", "other"), "Copy constructor"))
34
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 80 .def(bp::init<
35 const std::string &, const JointIndex, const SE3 &, FrameType,
36 bp::optional<const Inertia &>>(
37
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 80 (bp::arg("name"), bp::arg("parent_joint"), bp::arg("placement"), bp::arg("type"),
38
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 40 bp::arg("inertia")),
39 "Initialize from a given name, type, parent frame index and placement wrt parent joint "
40 "and an spatial inertia object."))
41
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 100 .def(bp::init<
42 const std::string &, const JointIndex, const FrameIndex, const SE3 &, FrameType,
43 bp::optional<const Inertia &>>(
44
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 40 (bp::arg("name"), bp::arg("parent_joint"), bp::args("parent_frame"),
45
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 80 bp::arg("placement"), bp::arg("type"), bp::arg("inertia")),
46 "Initialize from a given name, type, parent joint index, parent frame index and "
47 "placement wrt parent joint and an spatial inertia object."))
48
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 40 .def(bp::init<const Frame &>((bp::arg("self"), bp::arg("clone")), "Copy constructor"))
49
50
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 20 .def_readwrite("name", &Frame::name, "name of the frame")
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 20 .def_readwrite("parentJoint", &Frame::parentJoint, "Index of the parent joint")
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 20 .def_readwrite("parentFrame", &Frame::parentFrame, "Index of the parent frame")
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 40 .add_property(
54 "parent",
55 bp::make_function(
56 ✗ +[](const Frame & self) { return self.parentJoint; },
57
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 40 deprecated_member<>("Deprecated member. Use Frame.parentJoint instead.")),
58 bp::make_function(
59 ✗ +[](Frame & self, const JointIndex index) { self.parentJoint = index; },
60
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 40 deprecated_member<>("Deprecated member. Use Frame.parentJoint instead.")),
61 "See parentJoint property.")
62
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 40 .add_property(
63 "previousFrame",
64 bp::make_function(
65 ✗ +[](const Frame & self) { return self.parentFrame; },
66
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 40 deprecated_member<>("Deprecated member. Use Frame.parentFrame instead.")),
67 bp::make_function(
68 ✗ +[](Frame & self, const FrameIndex index) { self.parentFrame = index; },
69
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 40 deprecated_member<>("Deprecated member. Use Frame.parentFrame instead.")),
70 "See parentFrame property.")
71
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 20 .def_readwrite(
72 "placement", &Frame::placement, "placement in the parent joint local frame")
73
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 20 .def_readwrite("type", &Frame::type, "type of the frame")
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 20 .def_readwrite("inertia", &Frame::inertia, "Inertia information attached to the frame.")
75
76 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
77
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 20 .def(bp::self == bp::self)
78
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 20 .def(bp::self != bp::self)
79 #endif
80 ;
81 20 }
82
83 20 static void expose()
84 {
85
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 20 if (!register_symbolic_link_to_registered_type<FrameType>())
86 {
87 40 bp::enum_<FrameType>("FrameType")
88
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 20 .value("OP_FRAME", OP_FRAME)
89
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 20 .value("JOINT", JOINT)
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 20 .value("FIXED_JOINT", FIXED_JOINT)
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 20 .value("BODY", BODY)
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 20 .value("SENSOR", SENSOR)
93
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 20 .export_values();
94 }
95
96 20 bp::class_<Frame>(
97 "Frame",
98 "A Plucker coordinate frame related to a parent joint inside a kinematic tree.\n",
99 bp::no_init)
100
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 20 .def(FramePythonVisitor())
101
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 20 .def(CastVisitor<Frame>())
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 20 .def(ExposeConstructorByCastVisitor<Frame, ::pinocchio::Frame>())
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 20 .def(CopyableVisitor<Frame>())
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 20 .def(PrintableVisitor<Frame>())
105
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 20 .def_pickle(Pickle());
106 20 }
107
108 private:
109 struct Pickle : bp::pickle_suite
110 {
111 ✗ static bp::tuple getinitargs(const Frame &)
112 {
113 ✗ return bp::make_tuple();
114 }
115
116 ✗ static bp::tuple getstate(const Frame & f)
117 {
118 return bp::make_tuple(
119 ✗ f.name, f.parentJoint, f.parentFrame, f.placement, (int)f.type, f.inertia);
120 }
121
122 ✗ static void setstate(Frame & f, bp::tuple tup)
123 {
124 ✗ f.name = bp::extract<std::string>(tup[0]);
125 ✗ f.parentJoint = bp::extract<JointIndex>(tup[1]);
126 ✗ f.parentFrame = bp::extract<JointIndex>(tup[2]);
127 ✗ f.placement = bp::extract<SE3 &>(tup[3]);
128 ✗ f.type = (FrameType)(int)bp::extract<int>(tup[4]);
129 ✗ if (bp::len(tup) > 5)
130 ✗ f.inertia = bp::extract<Inertia &>(tup[5]);
131 }
132
133 20 static bool getstate_manages_dict()
134 {
135 20 return true;
136 }
137 };
138 };
139
140 } // namespace python
141 } // namespace pinocchio
142
143 #endif // ifndef __pinocchio_python_multibody_frame_hpp__
144