GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 41 68 60.3%
Branches: 30 65 46.2%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_python_multibody_joint_joint_base_hpp__
6 #define __pinocchio_python_multibody_joint_joint_base_hpp__
7
8 #include <boost/python.hpp>
9 #include <eigenpy/exception.hpp>
10
11 #include "pinocchio/bindings/python/fwd.hpp"
12 #include "pinocchio/multibody/joint/joint-collection.hpp"
13
14 namespace pinocchio
15 {
16 namespace python
17 {
18 namespace bp = boost::python;
19
20 template<class JointModelDerived>
21 struct JointModelBasePythonVisitor
22 : public boost::python::def_visitor<JointModelBasePythonVisitor<JointModelDerived>>
23 {
24 public:
25 typedef typename JointModelDerived::JointDataDerived JointDataDerived;
26
27 template<class PyClass>
28 3726 void visit(PyClass & cl) const
29 {
30
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 3726 cl.def(bp::init<>(bp::arg("self")))
31 // All are add_properties cause ReadOnly
32
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 3726 .add_property("id", &get_id)
33
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 3726 .add_property("idx_q", &get_idx_q)
34
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 3726 .add_property("idx_v", &get_idx_v)
35
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 3726 .add_property("nq", &get_nq)
36
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 3726 .add_property("nv", &get_nv)
37 7452 .add_property(
38 "hasConfigurationLimit", &JointModelDerived::hasConfigurationLimit,
39 "Return vector of boolean if joint has configuration limits.")
40
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 3726 .add_property(
41 "hasConfigurationLimitInTangent", &JointModelDerived::hasConfigurationLimitInTangent,
42 "Return vector of boolean if joint has configuration limits in tangent space.")
43
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 7452 .def(
44 "setIndexes", &JointModelDerived::setIndexes,
45 bp::args("self", "joint_id", "idx_q", "idx_v"))
46
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 3726 .def("classname", &JointModelDerived::classname)
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 7452 .def("calc", &calc0, bp::args("self", "jdata", "q"))
49
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 7452 .def("calc", &calc1, bp::args("self", "jdata", "q", "v"))
50 7452 .def(
51
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 7452 "createData", &JointModelDerived::createData, bp::arg("self"),
52 "Create data associated to the joint model.")
53
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 7452 .def(
54 "hasSameIndexes", &JointModelDerived::template hasSameIndexes<JointModelDerived>,
55 bp::args("self", "other"), "Check if this has same indexes than other.")
56
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 3942 .def(
57
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 7452 "shortname", &JointModelDerived::shortname, bp::arg("self"),
58 "Returns string indicating the joint type (class name):"
59 "\n\t- JointModelR[*]: Revolute Joint, with rotation axis [*] ∈ [X,Y,Z]"
60 "\n\t- JointModelRevoluteUnaligned: Revolute Joint, with rotation axis not aligned "
61 "with X, Y, nor Z"
62 "\n\t- JointModelRUB[*]: Unbounded revolute Joint (without position limits), with "
63 "rotation axis [*] ∈ [X,Y,Z]"
64 "\n\t- JointModelRevoluteUnboundedUnaligned: Unbounded revolute Joint, with "
65 "rotation axis not aligned with X, Y, nor Z"
66 "\n\t- JointModelP[*]: Prismatic Joint, with rotation axis [*] ∈ [X,Y,Z]"
67 "\n\t- JointModelPlanar: Planar joint"
68 "\n\t- JointModelPrismaticUnaligned: Prismatic joint, with translation axis not "
69 "aligned with X, Y, nor Z"
70 "\n\t- JointModelSphericalZYX: Spherical joint (3D rotation)"
71 "\n\t- JointModelTranslation: Translation joint (3D translation)"
72 "\n\t- JointModelFreeFlyer: Joint enabling 3D rotation and translations.")
73
74 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
75
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 3510 .def(bp::self == bp::self)
76
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77 #endif
78 ;
79 3726 }
80
81 44 static JointIndex get_id(const JointModelDerived & self)
82 {
83 44 return self.id();
84 }
85 ✗ static int get_idx_q(const JointModelDerived & self)
86 {
87 ✗ return self.idx_q();
88 }
89 ✗ static int get_idx_v(const JointModelDerived & self)
90 {
91 ✗ return self.idx_v();
92 }
93 17 static int get_nq(const JointModelDerived & self)
94 {
95 34 return self.nq();
96 }
97 ✗ static int get_nv(const JointModelDerived & self)
98 {
99 ✗ return self.nv();
100 }
101 static void
102 ✗ calc0(const JointModelDerived & self, JointDataDerived & jdata, const context::VectorXs & q)
103 {
104 ✗ self.calc(jdata, q);
105 }
106 ✗ static void calc1(
107 const JointModelDerived & self,
108 JointDataDerived & jdata,
109 const context::VectorXs & q,
110 const context::VectorXs & v)
111 {
112 ✗ self.calc(jdata, q, v);
113 }
114 };
115
116 template<class JointDataDerived>
117 struct JointDataBasePythonVisitor
118 : public boost::python::def_visitor<JointDataBasePythonVisitor<JointDataDerived>>
119 {
120 public:
121 template<class PyClass>
122 3726 void visit(PyClass & cl) const
123 {
124 216 cl
125 // All are add_properties cause ReadOnly
126 3726 .add_property("joint_q", &get_joint_q)
127 3726 .add_property("joint_v", &get_joint_v)
128 3726 .add_property("S", &get_S)
129 3726 .add_property("M", &get_M)
130 3726 .add_property("v", &get_v)
131 3726 .add_property("c", &get_c)
132 3726 .add_property("U", &get_U)
133 3726 .add_property("Dinv", &get_Dinv)
134 3726 .add_property("UDinv", &get_UDinv)
135
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 3726 .def("shortname", &JointDataDerived::shortname, bp::arg("self"))
136
137 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
138
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139
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140 #endif
141 ;
142 3726 }
143
144 ✗ static typename JointDataDerived::ConfigVector_t get_joint_q(const JointDataDerived & self)
145 {
146 ✗ return self.joint_q_accessor();
147 }
148 ✗ static typename JointDataDerived::TangentVector_t get_joint_v(const JointDataDerived & self)
149 {
150 ✗ return self.joint_v_accessor();
151 }
152 // static typename JointDataDerived::Constraint_t get_S(const JointDataDerived & self)
153 // { return self.S_accessor(); }
154 ✗ static typename JointDataDerived::Constraint_t::DenseBase get_S(const JointDataDerived & self)
155 {
156 ✗ return self.S_accessor().matrix();
157 }
158 ✗ static typename JointDataDerived::Transformation_t get_M(const JointDataDerived & self)
159 {
160 ✗ return self.M_accessor();
161 }
162 ✗ static typename JointDataDerived::Motion_t get_v(const JointDataDerived & self)
163 {
164 ✗ return self.v_accessor();
165 }
166 ✗ static typename JointDataDerived::Bias_t get_c(const JointDataDerived & self)
167 {
168 ✗ return self.c_accessor();
169 }
170 ✗ static typename JointDataDerived::U_t get_U(const JointDataDerived & self)
171 {
172 ✗ return self.U_accessor();
173 }
174 ✗ static typename JointDataDerived::D_t get_Dinv(const JointDataDerived & self)
175 {
176 ✗ return self.Dinv_accessor();
177 }
178 static typename JointDataDerived::UD_t get_UDinv(const JointDataDerived & self)
179 {
180 ✗ return self.UDinv_accessor();
181 }
182
183 static void expose()
184 {
185 }
186 };
187
188 } // namespace python
189 } // namespace pinocchio
190
191 #endif // ifndef __pinocchio_python_multibody_joint_joint_base_hpp__
192