GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/model.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 94 97 96.9%
Branches: 125 250 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 69 void visit(PyClass & cl) const
67 {
68
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 69 cl.def(bp::init<>(bp::arg("self"), "Default constructor. Constructs an empty model."))
69
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 138 .def(bp::init<const Model &>((bp::arg("self"), bp::arg("clone")), "Copy constructor"))
70
71 // Class Members
72
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 69 .add_property("nq", &Model::nq, "Dimension of the configuration vector representation.")
73
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 69 .add_property("nv", &Model::nv, "Dimension of the velocity vector space.")
74
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 69 .add_property("njoints", &Model::njoints, "Number of joints.")
75
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 69 .add_property("nbodies", &Model::nbodies, "Number of bodies.")
76
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 69 .add_property("nframes", &Model::nframes, "Number of frames.")
77
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 69 .add_property(
78 "inertias", &Model::inertias, "Vector of spatial inertias supported by each joint.")
79
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 69 .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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 69 .add_property("joints", &Model::joints, "Vector of joint models.")
83
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 69 .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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 69 .add_property(
87 "nqs", &Model::nqs, "Vector of dimension of the joint configuration subspace.")
88
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 69 .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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 69 .add_property("nvs", &Model::nvs, "Dimension of the *i*th joint tangent subspace.")
92
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 69 .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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 69 .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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 69 .add_property("names", &Model::names, "Name of the joints.")
101
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 69 .def_readwrite("name", &Model::name, "Name of the model.")
102
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 69 .def_readwrite(
103 "referenceConfigurations", &Model::referenceConfigurations,
104 "Map of reference configurations, indexed by user given names.")
105
106
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 69 .def_readwrite("armature", &Model::armature, "Armature vector.")
107
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 69 .def_readwrite(
108 "rotorInertia", &Model::rotorInertia, "Vector of rotor inertia parameters.")
109
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 69 .def_readwrite(
110 "rotorGearRatio", &Model::rotorGearRatio, "Vector of rotor gear ratio parameters.")
111
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 69 .def_readwrite("friction", &Model::friction, "Vector of joint friction parameters.")
112
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 69 .def_readwrite("damping", &Model::damping, "Vector of joint damping parameters.")
113
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 69 .def_readwrite("effortLimit", &Model::effortLimit, "Joint max effort.")
114
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 69 .def_readwrite("velocityLimit", &Model::velocityLimit, "Joint max velocity.")
115
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 69 .def_readwrite(
116 "lowerPositionLimit", &Model::lowerPositionLimit, "Limit for joint lower position.")
117
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 69 .def_readwrite(
118 "upperPositionLimit", &Model::upperPositionLimit, "Limit for joint upper position.")
119
120
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 69 .def_readwrite("frames", &Model::frames, "Vector of frames contained in the model.")
121
122
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 69 .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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 69 .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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 69 .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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 138 .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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 138 .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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 138 .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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 69 .def(
162 "addJointFrame", &Model::addJointFrame,
163
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 207 (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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 138 .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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 138 .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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 138 .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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 138 .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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 138 .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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 138 .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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 138 .def(
190 "getFrameId", &Model::getFrameId,
191
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 138 (bp::arg("self"), bp::arg("name"),
192
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 138 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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 138 .def(
198 "existFrame", &Model::existFrame,
199
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 138 (bp::arg("self"), bp::arg("name"),
200
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 138 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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 138 .def(
205 "addFrame", &Model::addFrame,
206
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 207 (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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 138 .def(
212
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 138 "createData", &ModelPythonVisitor::createData, bp::arg("self"),
213 "Create a Data object for the given model.")
214
215
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 138 .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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 138 .def(
220 "hasConfigurationLimit", &Model::hasConfigurationLimit, bp::args("self"),
221 "Returns list of boolean if joints have configuration limit.")
222
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 138 .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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 65 .def(bp::self == bp::self)
230
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 65 .def(bp::self != bp::self)
231 #endif
232
233
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 69 .PINOCCHIO_ADD_STATIC_PROPERTY_READONLY_BYVALUE(
234 Model, gravity981, "Default gravity field value on the Earth.");
235
236 69 bp::register_ptr_to_python<std::shared_ptr<Model>>();
237 69 }
238
239 5 static JointIndex addJoint0(
240 Model & model,
241 JointIndex parent_id,
242 const JointModel & jmodel,
243 const SE3 & joint_placement,
244 const std::string & joint_name)
245 {
246 5 return model.addJoint(parent_id, jmodel, joint_placement, joint_name);
247 }
248
249 1 static JointIndex addJoint1(
250 Model & model,
251 JointIndex parent_id,
252 const JointModel & jmodel,
253 const SE3 & joint_placement,
254 const std::string & joint_name,
255 const VectorXs & max_effort,
256 const VectorXs & max_velocity,
257 const VectorXs & min_config,
258 const VectorXs & max_config)
259 {
260 1 return model.addJoint(
261 parent_id, jmodel, joint_placement, joint_name, max_effort, max_velocity, min_config,
262 1 max_config);
263 }
264
265 ✗ static JointIndex addJoint2(
266 Model & model,
267 JointIndex parent_id,
268 const JointModel & jmodel,
269 const SE3 & joint_placement,
270 const std::string & joint_name,
271 const VectorXs & max_effort,
272 const VectorXs & max_velocity,
273 const VectorXs & min_config,
274 const VectorXs & max_config,
275 const VectorXs & friction,
276 const VectorXs & damping)
277 {
278 ✗ return model.addJoint(
279 parent_id, jmodel, joint_placement, joint_name, max_effort, max_velocity, min_config,
280 ✗ max_config, friction, damping);
281 }
282
283 158 static Data createData(const Model & model)
284 {
285 158 return Data(model);
286 }
287
288 ///
289 /// \brief Provide equivalent to python list index function for
290 /// vectors.
291 ///
292 /// \param[in] x The input vector.
293 /// \param[in] v The value of to look for in the vector.
294 ///
295 /// \return The index of the matching element of the vector. If
296 /// no element is found, return the size of the vector.
297 ///
298 template<typename T>
299 static Index index(std::vector<T> const & x, typename std::vector<T>::value_type const & v)
300 {
301 Index i = 0;
302 for (typename std::vector<T>::const_iterator it = x.begin(); it != x.end(); ++it, ++i)
303 {
304 if (*it == v)
305 {
306 return i;
307 }
308 }
309 return x.size();
310 }
311
312 /* --- Expose --------------------------------------------------------- */
313 69 static void expose()
314 {
315 typedef typename Model::ConfigVectorMap ConfigVectorMap;
316 typedef bp::map_indexing_suite<ConfigVectorMap, false> map_indexing_suite;
317
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 69 StdVectorPythonVisitor<std::vector<Index>, true>::expose("StdVec_Index");
318 69 serialize<std::vector<Index>>();
319
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 69 StdVectorPythonVisitor<std::vector<IndexVector>>::expose("StdVec_IndexVector");
320 69 serialize<std::vector<IndexVector>>();
321
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 69 StdVectorPythonVisitor<std::vector<std::string>, true>::expose("StdVec_StdString");
322
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 69 StdVectorPythonVisitor<std::vector<bool>, true>::expose("StdVec_Bool");
323
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 69 StdVectorPythonVisitor<std::vector<Scalar>, true>::expose("StdVec_Scalar");
324
325 #if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
326
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 65 bp::scope().attr("StdVec_Double") = bp::scope().attr("StdVec_Scalar"); // alias
327 #endif
328
329 69 serialize<std::vector<std::string>>();
330 69 serialize<std::vector<bool>>();
331 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
332 65 serialize<std::vector<Scalar>>();
333 #endif
334 69 bp::class_<typename Model::ConfigVectorMap>("StdMap_String_VectorXd")
335
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 69 .def(map_indexing_suite())
336
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337
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 69 .def(details::overload_base_get_item_for_std_map<typename Model::ConfigVectorMap>());
338
339 69 bp::class_<Model>("Model", "Articulated Rigid Body model", bp::no_init)
340
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 69 .def(ModelPythonVisitor())
341
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 69 .def(CastVisitor<Model>())
342
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 69 .def(ExposeConstructorByCastVisitor<Model, ::pinocchio::Model>())
343
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 69 .def(SerializableVisitor<Model>())
344
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 69 .def(PrintableVisitor<Model>())
345
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 69 .def(CopyableVisitor<Model>())
346 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
347
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 65 .def_pickle(PickleFromStringSerialization<Model>())
348 #endif
349 ;
350 69 }
351 };
352
353 } // namespace python
354 } // namespace pinocchio
355
356 #endif // ifndef __pinocchio_python_multibody_model_hpp__
357