GCC Code Coverage Report

Directory: ./
File: bindings/python/multibody/sample-models.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 41 41 100.0%
Branches: 11 22 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 //
4
5 #include "pinocchio/multibody/sample-models.hpp"
6
7 #include <boost/python.hpp>
8
9 namespace pinocchio
10 {
11 namespace python
12 {
13 namespace bp = boost::python;
14
15 75 Model buildSampleModelHumanoidRandom()
16 {
17 75 Model model;
18
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 75 buildModels::humanoidRandom(model);
19 75 return model;
20 }
21
22 2 Model buildSampleModelHumanoidRandom(bool usingFF)
23 {
24 2 Model model;
25
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 2 buildModels::humanoidRandom(model, usingFF);
26 2 return model;
27 }
28
29 6 Model buildSampleModelManipulator()
30 {
31 6 Model model;
32
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 6 buildModels::manipulator(model);
33 6 return model;
34 }
35
36 #ifdef PINOCCHIO_WITH_HPP_FCL
37 1 GeometryModel buildSampleGeometryModelManipulator(const Model & model)
38 {
39 1 GeometryModel geom;
40
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 1 buildModels::manipulatorGeometries(model, geom);
41 1 return geom;
42 }
43 #endif
44
45 11 Model buildSampleModelHumanoid()
46 {
47 11 Model model;
48
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 11 buildModels::humanoid(model);
49 11 return model;
50 }
51
52 2 Model buildSampleModelHumanoid(bool usingFF)
53 {
54 2 Model model;
55
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 2 buildModels::humanoid(model, usingFF);
56 2 return model;
57 }
58
59 #ifdef PINOCCHIO_WITH_HPP_FCL
60 10 GeometryModel buildSampleGeometryModelHumanoid(const Model & model)
61 {
62 10 GeometryModel geom;
63
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 10 buildModels::humanoidGeometries(model, geom);
64 10 return geom;
65 }
66 #endif
67
68 69 void exposeSampleModels()
69 {
70 69 bp::def(
71 "buildSampleModelHumanoidRandom",
72 static_cast<Model (*)()>(pinocchio::python::buildSampleModelHumanoidRandom),
73 "Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint "
74 "placements.\nOnly meant for unit tests.");
75
76
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 69 bp::def(
77 "buildSampleModelHumanoidRandom",
78 static_cast<Model (*)(bool)>(pinocchio::python::buildSampleModelHumanoidRandom),
79 138 bp::args("using_free_flyer"),
80 "Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint "
81 "placements.\nOnly meant for unit tests.");
82
83 69 bp::def(
84 "buildSampleModelManipulator",
85 static_cast<Model (*)()>(pinocchio::python::buildSampleModelManipulator),
86 "Generate a (hard-coded) model of a simple manipulator.");
87
88 #ifdef PINOCCHIO_WITH_HPP_FCL
89
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 69 bp::def(
90 "buildSampleGeometryModelManipulator",
91 static_cast<GeometryModel (*)(const Model &)>(
92 pinocchio::python::buildSampleGeometryModelManipulator),
93 138 bp::args("model"), "Generate a (hard-coded) geometry model of a simple manipulator.");
94 #endif
95
96 69 bp::def(
97 "buildSampleModelHumanoid",
98 static_cast<Model (*)()>(pinocchio::python::buildSampleModelHumanoid),
99 "Generate a (hard-coded) model of a simple humanoid.");
100
101
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 69 bp::def(
102 "buildSampleModelHumanoid",
103 static_cast<Model (*)(bool)>(pinocchio::python::buildSampleModelHumanoid),
104 138 bp::args("using_free_flyer"), "Generate a (hard-coded) model of a simple humanoid.");
105
106 #ifdef PINOCCHIO_WITH_HPP_FCL
107
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 69 bp::def(
108 "buildSampleGeometryModelHumanoid",
109 static_cast<GeometryModel (*)(const Model &)>(
110 pinocchio::python::buildSampleGeometryModelHumanoid),
111 138 bp::args("model"), "Generate a (hard-coded) geometry model of a simple humanoid.");
112 #endif
113 69 }
114 } // namespace python
115
116 } // namespace pinocchio
117