GCC Code Coverage Report

Directory: ./
File: bindings/python/module.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 74 76 97.4%
Branches: 106 212 50.0%
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1 //
2 // Copyright (c) 2015-2022 CNRS INRIA
3 //
4
5 #include "pinocchio/bindings/python/fwd.hpp"
6 #include "pinocchio/multibody/fwd.hpp"
7 #include "pinocchio/utils/version.hpp"
8 #include "pinocchio/bindings/python/utils/version.hpp"
9 #include "pinocchio/bindings/python/utils/dependencies.hpp"
10 #include "pinocchio/bindings/python/utils/registration.hpp"
11
12 #include "pinocchio/bindings/python/utils/std-vector.hpp"
13 #include "pinocchio/spatial/cartesian-axis.hpp"
14 #include "pinocchio/bindings/python/serialization/serialization.hpp"
15
16 #include <eigenpy/eigenpy.hpp>
17 #include <eigenpy/optional.hpp>
18
19 namespace bp = boost::python;
20 using namespace pinocchio::python;
21
22
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 80 BOOST_PYTHON_MODULE(PINOCCHIO_PYTHON_MODULE_NAME)
23 {
24 40 bp::docstring_options module_docstring_options(true, true, false);
25
26
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 40 bp::scope().attr("__version__") = pinocchio::printVersion();
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 40 bp::scope().attr("__raw_version__") = bp::str(PINOCCHIO_VERSION);
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 40 eigenpy::enableEigenPy();
29
30 // Enable warnings
31
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 40 bp::import("warnings");
32
33 #if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE) \
34 && defined(PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS)
35
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 40 bp::import("hppfcl");
36 #endif
37
38
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 40 exposeEigenTypes();
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 40 exposeSpecificTypeFeatures();
40
41
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 40 eigenpy::OptionalConverter<context::VectorXs, boost::optional>::registration();
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 40 eigenpy::OptionalConverter<Eigen::Ref<context::VectorXs>, boost::optional>::registration();
43 eigenpy::OptionalConverter<
44
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 40 const Eigen::Ref<const context::VectorXs>, boost::optional>::registration();
45
46 #if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
47
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 40 eigenpy::StdContainerFromPythonList<std::vector<std::string>>::register_converter();
48 #endif
49
50
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 40 bp::scope().attr("ScalarType") = getScalarType();
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52
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 80 bp::scope().attr("XAxis") = bp::object(bp::handle<>(
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 80 eigenpy::EigenToPy<context::Vector3s>::convert(pinocchio::XAxis::vector<context::Scalar>())));
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 80 bp::scope().attr("YAxis") = bp::object(bp::handle<>(
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 80 eigenpy::EigenToPy<context::Vector3s>::convert(pinocchio::YAxis::vector<context::Scalar>())));
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 80 bp::scope().attr("ZAxis") = bp::object(bp::handle<>(
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 80 eigenpy::EigenToPy<context::Vector3s>::convert(pinocchio::ZAxis::vector<context::Scalar>())));
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59
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 40 if (!register_symbolic_link_to_registered_type<::pinocchio::ReferenceFrame>())
60 {
61
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 80 bp::enum_<::pinocchio::ReferenceFrame>("ReferenceFrame")
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 40 .value("WORLD", ::pinocchio::WORLD)
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 40 .value("LOCAL", ::pinocchio::LOCAL)
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 40 .value("LOCAL_WORLD_ALIGNED", ::pinocchio::LOCAL_WORLD_ALIGNED)
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 40 .export_values();
66 }
67
68
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 40 if (!register_symbolic_link_to_registered_type<::pinocchio::KinematicLevel>())
69 {
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 80 bp::enum_<::pinocchio::KinematicLevel>("KinematicLevel")
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 40 .value("POSITION", ::pinocchio::POSITION)
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 40 .value("VELOCITY", ::pinocchio::VELOCITY)
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 40 .value("ACCELERATION", ::pinocchio::ACCELERATION)
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 40 .export_values();
75 }
76
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 40 if (!register_symbolic_link_to_registered_type<::pinocchio::Convention>())
78 {
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 80 bp::enum_<::pinocchio::Convention>("Convention")
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 40 .value("WORLD", ::pinocchio::Convention::WORLD)
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 40 .value("LOCAL", ::pinocchio::Convention::LOCAL);
82 }
83
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 40 if (!register_symbolic_link_to_registered_type<::pinocchio::ArgumentPosition>())
85 {
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 80 bp::enum_<::pinocchio::ArgumentPosition>("ArgumentPosition")
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 40 .value("ARG0", ::pinocchio::ARG0)
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 40 .value("ARG1", ::pinocchio::ARG1)
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 40 .value("ARG2", ::pinocchio::ARG2)
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 40 .value("ARG3", ::pinocchio::ARG3)
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 40 .value("ARG4", ::pinocchio::ARG4)
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 40 .export_values();
93 }
94
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 40 exposeSE3();
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 40 exposeForce();
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 40 exposeMotion();
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 40 exposeInertia();
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 40 exposeSymmetric3();
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 40 exposeJoints();
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 40 exposeExplog();
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 40 exposeRpy();
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 40 exposeLinalg();
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 40 exposeTridiagonalMatrix();
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 40 exposeLanczosDecomposition();
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 40 exposeSkew();
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 40 exposeLieGroups();
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 40 exposeFrame();
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 40 exposeModel();
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 40 exposeData();
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 40 exposeSampleModels();
113 #if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
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 40 exposeGeometry();
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 40 exposeParsers();
116 #endif // defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
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 40 exposeAlgorithms();
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 40 exposeExtras();
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 40 exposeSerialization();
121
122 #if defined(PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS) \
123 && defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
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 40 exposeFCL();
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 40 exposeCollision();
126 #endif // defined(PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS) &&
127 // defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
128
129 #if defined(PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP) \
130 && defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
131 exposePool();
132 exposeParallelAlgorithms();
133 #endif
134
135 #if defined(PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS) \
136 && defined(PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP) \
137 && defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
138 exposePoolCollision();
139 exposeParallelCollision();
140 #endif
141
142
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 40 exposeVersion();
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 40 exposeDependencies();
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 40 exposeConversions();
145
146 typedef std::vector<::pinocchio::VectorXb> StdVec_VectorXb;
147 typedef std::vector<context::MatrixXs> StdVec_MatrixXs;
148
149
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 40 StdVectorPythonVisitor<StdVec_VectorXb, false>::expose(
150 ✗ "StdVec_VectorXb", eigenpy::details::overload_base_get_item_for_std_vector<StdVec_VectorXb>());
151
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 40 StdVectorPythonVisitor<StdVec_MatrixXs, false>::expose(
152 ✗ "StdVec_MatrixXs", eigenpy::details::overload_base_get_item_for_std_vector<StdVec_MatrixXs>());
153 40 }
154