GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/model.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 90 96 93.8%
Branches: 124 248 50.0%
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1 //
2 // Copyright (c) 2015-2023 CNRS INRIA
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_python_multibody_model_hpp__
7 #define __pinocchio_python_multibody_model_hpp__
8
9 #include <eigenpy/eigen-to-python.hpp>
10
11 #include "pinocchio/multibody/model.hpp"
12 #include "pinocchio/serialization/model.hpp"
13
14 #include <boost/python/overloads.hpp>
15 #include <eigenpy/memory.hpp>
16 #include <eigenpy/exception.hpp>
17
18 #include "pinocchio/algorithm/check.hpp"
19
20 #include "pinocchio/bindings/python/utils/cast.hpp"
21 #include "pinocchio/bindings/python/utils/macros.hpp"
22 #include "pinocchio/bindings/python/utils/printable.hpp"
23 #include "pinocchio/bindings/python/utils/copyable.hpp"
24 #include "pinocchio/bindings/python/utils/std-map.hpp"
25 #include "pinocchio/bindings/python/utils/pickle.hpp"
26 #include "pinocchio/bindings/python/utils/pickle-map.hpp"
27 #include "pinocchio/bindings/python/utils/std-vector.hpp"
28 #include "pinocchio/bindings/python/serialization/serializable.hpp"
29
30 #if EIGENPY_VERSION_AT_MOST(2, 8, 1)
31 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Model)
32 #endif
33
34 namespace pinocchio
35 {
36 namespace python
37 {
38 namespace bp = boost::python;
39
40 template<typename Model>
41 struct ModelPythonVisitor : public bp::def_visitor<ModelPythonVisitor<Model>>
42 {
43 public:
44 typedef typename Model::Scalar Scalar;
45
46 typedef typename Model::Index Index;
47 typedef typename Model::JointIndex JointIndex;
48 typedef typename Model::JointModel JointModel;
49 typedef typename JointModel::JointModelVariant JointModelVariant;
50 typedef typename Model::FrameIndex FrameIndex;
51 typedef typename Model::IndexVector IndexVector;
52
53 typedef typename Model::SE3 SE3;
54 typedef typename Model::Motion Motion;
55 typedef typename Model::Force Force;
56 typedef typename Model::Frame Frame;
57 typedef typename Model::Inertia Inertia;
58
59 typedef typename Model::Data Data;
60
61 typedef typename Model::VectorXs VectorXs;
62
63 public:
64 /* --- Exposing C++ API to python through the handler ----------------- */
65 template<class PyClass>
66 20 void visit(PyClass & cl) const
67 {
68
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 20 cl.def(bp::init<>(bp::arg("self"), "Default constructor. Constructs an empty model."))
69
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 40 .def(bp::init<const Model &>((bp::arg("self"), bp::arg("clone")), "Copy constructor"))
70
71 // Class Members
72
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 20 .add_property("nq", &Model::nq, "Dimension of the configuration vector representation.")
73
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 20 .add_property("nv", &Model::nv, "Dimension of the velocity vector space.")
74
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 20 .add_property("njoints", &Model::njoints, "Number of joints.")
75
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 20 .add_property("nbodies", &Model::nbodies, "Number of bodies.")
76
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 20 .add_property("nframes", &Model::nframes, "Number of frames.")
77
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 20 .add_property(
78 "inertias", &Model::inertias, "Vector of spatial inertias supported by each joint.")
79
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 20 .def_readwrite(
80 "jointPlacements", &Model::jointPlacements,
81 "Vector of joint placements: placement of a joint *i* wrt its parent joint frame.")
82
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 20 .add_property("joints", &Model::joints, "Vector of joint models.")
83
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 20 .add_property(
84 "idx_qs", &Model::idx_qs,
85 "Vector of starting index of the *i*th joint in the configuration space.")
86
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 20 .add_property(
87 "nqs", &Model::nqs, "Vector of dimension of the joint configuration subspace.")
88
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 20 .add_property(
89 "idx_vs", &Model::idx_vs,
90 "Starting index of the *i*th joint in the tangent configuration space.")
91
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 20 .add_property("nvs", &Model::nvs, "Dimension of the *i*th joint tangent subspace.")
92
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 20 .add_property(
93 "parents", &Model::parents,
94 "Vector of parent joint indexes. The parent of joint *i*, denoted *li*, "
95 "corresponds to li==parents[i].")
96
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 20 .add_property(
97 "children", &Model::children,
98 "Vector of children index. Chidren of the *i*th joint, denoted *mu(i)* "
99 "corresponds to the set (i==parents[k] for k in mu(i)).")
100
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 20 .add_property("names", &Model::names, "Name of the joints.")
101
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 20 .def_readwrite("name", &Model::name, "Name of the model.")
102
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 20 .def_readwrite(
103 "referenceConfigurations", &Model::referenceConfigurations,
104 "Map of reference configurations, indexed by user given names.")
105
106
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 20 .def_readwrite("armature", &Model::armature, "Armature vector.")
107
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 20 .def_readwrite(
108 "rotorInertia", &Model::rotorInertia, "Vector of rotor inertia parameters.")
109
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 20 .def_readwrite(
110 "rotorGearRatio", &Model::rotorGearRatio, "Vector of rotor gear ratio parameters.")
111
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 20 .def_readwrite("friction", &Model::friction, "Vector of joint friction parameters.")
112
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 20 .def_readwrite("damping", &Model::damping, "Vector of joint damping parameters.")
113
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 20 .def_readwrite("effortLimit", &Model::effortLimit, "Joint max effort.")
114
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 20 .def_readwrite("velocityLimit", &Model::velocityLimit, "Joint max velocity.")
115
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 20 .def_readwrite(
116 "lowerPositionLimit", &Model::lowerPositionLimit, "Limit for joint lower position.")
117
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 20 .def_readwrite(
118 "upperPositionLimit", &Model::upperPositionLimit, "Limit for joint upper position.")
119
120
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 20 .def_readwrite("frames", &Model::frames, "Vector of frames contained in the model.")
121
122
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 20 .def_readwrite(
123 "supports", &Model::supports,
124 "Vector of supports. supports[j] corresponds to the list of joints on the "
125 "path between\n"
126 "the current *j* to the root of the kinematic tree.")
127
128
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 20 .def_readwrite(
129 "subtrees", &Model::subtrees,
130 "Vector of subtrees. subtree[j] corresponds to the subtree supported by the joint j.")
131
132
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 20 .def_readwrite(
133 "gravity", &Model::gravity,
134 "Motion vector corresponding to the gravity field expressed in the world Frame.")
135
136 // Class Methods
137
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 40 .def(
138 "addJoint", &ModelPythonVisitor::addJoint0,
139 bp::args("self", "parent_id", "joint_model", "joint_placement", "joint_name"),
140 "Adds a joint to the kinematic tree. The joint is defined by its placement relative "
141 "to its parent joint and its name.")
142
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 40 .def(
143 "addJoint", &ModelPythonVisitor::addJoint1,
144 bp::args(
145 "self", "parent_id", "joint_model", "joint_placement", "joint_name", "max_effort",
146 "max_velocity", "min_config", "max_config"),
147 "Adds a joint to the kinematic tree with given bounds. The joint is defined by its "
148 "placement relative to its parent joint and its name."
149 "This signature also takes as input effort, velocity limits as well as the bounds "
150 "on the joint configuration.")
151
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 40 .def(
152 "addJoint", &ModelPythonVisitor::addJoint2,
153 bp::args(
154 "self", "parent_id", "joint_model", "joint_placement", "joint_name", "max_effort",
155 "max_velocity", "min_config", "max_config", "friction", "damping"),
156 "Adds a joint to the kinematic tree with given bounds. The joint is defined by its "
157 "placement relative to its parent joint and its name.\n"
158 "This signature also takes as input effort, velocity limits as well as the bounds "
159 "on the joint configuration.\n"
160 "The user should also provide the friction and damping related to the joint.")
161
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 20 .def(
162 "addJointFrame", &Model::addJointFrame,
163
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 60 (bp::arg("self"), bp::arg("joint_id"), bp::arg("frame_id") = 0),
164 "Add the joint provided by its joint_id as a frame to the frame tree.\n"
165 "The frame_id may be optionally provided.")
166
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 40 .def(
167 "appendBodyToJoint", &Model::appendBodyToJoint,
168 bp::args("self", "joint_id", "body_inertia", "body_placement"),
169 "Appends a body to the joint given by its index. The body is defined by its "
170 "inertia, its relative placement regarding to the joint and its name.")
171
172
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 40 .def(
173 "addBodyFrame", &Model::addBodyFrame,
174 bp::args("self", "body_name", "parentJoint", "body_placement", "previous_frame"),
175 "add a body to the frame tree")
176
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 40 .def(
177 "getBodyId", &Model::getBodyId, bp::args("self", "name"),
178 "Return the index of a frame of type BODY given by its name")
179
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 40 .def(
180 "existBodyName", &Model::existBodyName, bp::args("self", "name"),
181 "Check if a frame of type BODY exists, given its name")
182
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 40 .def(
183 "getJointId", &Model::getJointId, bp::args("self", "name"),
184 "Return the index of a joint given by its name")
185
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 40 .def(
186 "existJointName", &Model::existJointName, bp::args("self", "name"),
187 "Check if a joint given by its name exists")
188
189
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 40 .def(
190 "getFrameId", &Model::getFrameId,
191
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 40 (bp::arg("self"), bp::arg("name"),
192
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 40 bp::arg("type") = (FrameType)(JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR)),
193 "Returns the index of the frame given by its name and its type."
194 "If the frame is not in the frames vector, it returns the current size of the "
195 "frames vector.")
196
197
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 40 .def(
198 "existFrame", &Model::existFrame,
199
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 40 (bp::arg("self"), bp::arg("name"),
200
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 40 bp::arg("type") = (FrameType)(JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR)),
201 "Returns true if the frame given by its name exists inside the Model with the given "
202 "type.")
203
204
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 40 .def(
205 "addFrame", &Model::addFrame,
206
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 60 (bp::arg("self"), bp::arg("frame"), bp::arg("append_inertia") = true),
207 "Add a frame to the vector of frames. If append_inertia set to True, "
208 "the inertia value contained in frame will be added to the inertia supported by the "
209 "parent joint.")
210
211
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 40 .def(
212
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 40 "createData", &ModelPythonVisitor::createData, bp::arg("self"),
213 "Create a Data object for the given model.")
214
215
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 40 .def(
216 "check", (bool(Model::*)(const Data &) const) & Model::check, bp::args("self", "data"),
217 "Check consistency of data wrt model.")
218
219
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 40 .def(
220 "hasConfigurationLimit", &Model::hasConfigurationLimit, bp::args("self"),
221 "Returns list of boolean if joints have configuration limit.")
222
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 40 .def(
223 "hasConfigurationLimitInTangent", &Model::hasConfigurationLimitInTangent,
224 bp::args("self"),
225 "Returns list of boolean if joints have configuration limit in tangent space .")
226
227 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
228
229
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 20 .def(bp::self == bp::self)
230
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 20 .def(bp::self != bp::self)
231 #endif
232
233
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 20 .PINOCCHIO_ADD_STATIC_PROPERTY_READONLY_BYVALUE(
234 Model, gravity981, "Default gravity field value on the Earth.");
235 20 }
236
237 2 static JointIndex addJoint0(
238 Model & model,
239 JointIndex parent_id,
240 const JointModel & jmodel,
241 const SE3 & joint_placement,
242 const std::string & joint_name)
243 {
244 2 return model.addJoint(parent_id, jmodel, joint_placement, joint_name);
245 }
246
247 ✗ static JointIndex addJoint1(
248 Model & model,
249 JointIndex parent_id,
250 const JointModel & jmodel,
251 const SE3 & joint_placement,
252 const std::string & joint_name,
253 const VectorXs & max_effort,
254 const VectorXs & max_velocity,
255 const VectorXs & min_config,
256 const VectorXs & max_config)
257 {
258 ✗ return model.addJoint(
259 parent_id, jmodel, joint_placement, joint_name, max_effort, max_velocity, min_config,
260 ✗ max_config);
261 }
262
263 ✗ static JointIndex addJoint2(
264 Model & model,
265 JointIndex parent_id,
266 const JointModel & jmodel,
267 const SE3 & joint_placement,
268 const std::string & joint_name,
269 const VectorXs & max_effort,
270 const VectorXs & max_velocity,
271 const VectorXs & min_config,
272 const VectorXs & max_config,
273 const VectorXs & friction,
274 const VectorXs & damping)
275 {
276 ✗ return model.addJoint(
277 parent_id, jmodel, joint_placement, joint_name, max_effort, max_velocity, min_config,
278 ✗ max_config, friction, damping);
279 }
280
281 16 static Data createData(const Model & model)
282 {
283 16 return Data(model);
284 }
285
286 ///
287 /// \brief Provide equivalent to python list index function for
288 /// vectors.
289 ///
290 /// \param[in] x The input vector.
291 /// \param[in] v The value of to look for in the vector.
292 ///
293 /// \return The index of the matching element of the vector. If
294 /// no element is found, return the size of the vector.
295 ///
296 template<typename T>
297 static Index index(std::vector<T> const & x, typename std::vector<T>::value_type const & v)
298 {
299 Index i = 0;
300 for (typename std::vector<T>::const_iterator it = x.begin(); it != x.end(); ++it, ++i)
301 {
302 if (*it == v)
303 {
304 return i;
305 }
306 }
307 return x.size();
308 }
309
310 /* --- Expose --------------------------------------------------------- */
311 20 static void expose()
312 {
313 typedef typename Model::ConfigVectorMap ConfigVectorMap;
314 typedef bp::map_indexing_suite<ConfigVectorMap, false> map_indexing_suite;
315
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 20 StdVectorPythonVisitor<std::vector<Index>, true>::expose("StdVec_Index");
316 20 serialize<std::vector<Index>>();
317
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 20 StdVectorPythonVisitor<std::vector<IndexVector>>::expose("StdVec_IndexVector");
318 20 serialize<std::vector<IndexVector>>();
319
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 20 StdVectorPythonVisitor<std::vector<std::string>, true>::expose("StdVec_StdString");
320
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 20 StdVectorPythonVisitor<std::vector<bool>, true>::expose("StdVec_Bool");
321
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 20 StdVectorPythonVisitor<std::vector<Scalar>, true>::expose("StdVec_Scalar");
322
323 #if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
324
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 20 bp::scope().attr("StdVec_Double") = bp::scope().attr("StdVec_Scalar"); // alias
325 #endif
326
327 20 serialize<std::vector<std::string>>();
328 20 serialize<std::vector<bool>>();
329 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
330 20 serialize<std::vector<Scalar>>();
331 #endif
332 20 bp::class_<typename Model::ConfigVectorMap>("StdMap_String_VectorXd")
333
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 20 .def(map_indexing_suite())
334
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 20 .def_pickle(PickleMap<typename Model::ConfigVectorMap>())
335
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 20 .def(details::overload_base_get_item_for_std_map<typename Model::ConfigVectorMap>());
336
337 20 bp::class_<Model>("Model", "Articulated Rigid Body model", bp::no_init)
338
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 20 .def(ModelPythonVisitor())
339
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 20 .def(CastVisitor<Model>())
340
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 20 .def(ExposeConstructorByCastVisitor<Model, ::pinocchio::Model>())
341
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 20 .def(SerializableVisitor<Model>())
342
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 20 .def(PrintableVisitor<Model>())
343
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 20 .def(CopyableVisitor<Model>())
344 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
345
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 20 .def_pickle(PickleFromStringSerialization<Model>())
346 #endif
347 ;
348 20 }
349 };
350
351 } // namespace python
352 } // namespace pinocchio
353
354 #endif // ifndef __pinocchio_python_multibody_model_hpp__
355