GCC Code Coverage Report

Directory: ./
File: src/matrix/operator-python-module-py.cc
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 88 91 96.7%
Branches: 16 32 50.0%
Line Branch Exec Source
1 #include "dynamic-graph/python/module.hh"
2 #include "operator.hh"
3
4 namespace dg = dynamicgraph;
5 namespace dgs = dynamicgraph::sot;
6 namespace bp = boost::python;
7
8 typedef bp::return_value_policy<bp::reference_existing_object>
9 reference_existing_object;
10
11 template <typename Operator>
12 70 void exposeUnaryOp() {
13 typedef dgs::UnaryOp<Operator> O_t;
14 dg::python::exposeEntity<O_t, bp::bases<dg::Entity>,
15 dg::python::AddCommands>()
16
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 70 .def_readonly("sin", &O_t::SIN)
17
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 70 .def_readonly("sout", &O_t::SOUT);
18 70 }
19
20 template <typename Operator>
21 30 void exposeBinaryOp() {
22 typedef dgs::BinaryOp<Operator> O_t;
23 dg::python::exposeEntity<O_t, bp::bases<dg::Entity>,
24 dg::python::AddCommands>()
25
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 30 .def_readonly("sin1", &O_t::SIN1)
26
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 30 .def_readonly("sin2", &O_t::SIN2)
27
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 30 .def_readonly("sout", &O_t::SOUT);
28 30 }
29
30 template <typename Operator>
31 26 auto exposeVariadicOpBase() {
32 typedef dgs::VariadicOp<Operator> O_t;
33 typedef typename O_t::Base B_t;
34 return dg::python::exposeEntity<O_t, bp::bases<dg::Entity>,
35 dg::python::AddCommands>()
36
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 52 .def_readonly("sout", &O_t::SOUT)
37 ✗ .def("sin", &B_t::getSignalIn, reference_existing_object())
38
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 26 .add_property("n_sin", &B_t::getSignalNumber, &B_t::setSignalNumber,
39 "the number of input signal.")
40
41
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 26 .def("setSignalNumber", &B_t::setSignalNumber,
42
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 52 "set the number of input signal.", bp::arg("size"))
43
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 26 .def("getSignalNumber", &B_t::getSignalNumber,
44
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 78 "get the number of input signal.", bp::arg("size"));
45 }
46
47 template <typename Operator>
48 struct exposeVariadicOpImpl {
49 20 static void run() { exposeVariadicOpBase<Operator>(); }
50 };
51
52 template <typename T>
53 struct exposeVariadicOpImpl<dgs::AdderVariadic<T> > {
54 6 static void run() {
55 typedef dgs::VariadicOp<dgs::AdderVariadic<T> > E_t;
56
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 6 exposeVariadicOpBase<dgs::AdderVariadic<T> >().add_property(
57 ✗ "coeffs", +[](E_t &e) { return e.op.coeffs; },
58 ✗ +[](E_t &e, const dg::Vector &c) { e.op.setCoeffs(c); },
59 "the multipliers.");
60 6 }
61 };
62
63 template <typename Operator>
64 26 void exposeVariadicOp() {
65 26 exposeVariadicOpImpl<Operator>::run();
66 26 }
67
68
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 4 BOOST_PYTHON_MODULE(wrap) {
69 using namespace dynamicgraph;
70 using namespace dynamicgraph::sot;
71
72 2 exposeUnaryOp<VectorSelecter>();
73 2 exposeUnaryOp<VectorComponent>();
74 2 exposeUnaryOp<MatrixSelector>();
75 2 exposeUnaryOp<MatrixColumnSelector>();
76 2 exposeUnaryOp<MatrixTranspose>();
77 2 exposeUnaryOp<Diagonalizer>();
78
79 /* ---------------------------------------------------------------------- */
80 /* --- INVERSION -------------------------------------------------------- */
81 /* ---------------------------------------------------------------------- */
82 2 exposeUnaryOp<Inverser<Matrix> >();
83 2 exposeUnaryOp<Inverser<MatrixHomogeneous> >();
84 2 exposeUnaryOp<Inverser<MatrixTwist> >();
85 2 exposeUnaryOp<Normalize>();
86 2 exposeUnaryOp<InverserRotation>();
87 2 exposeUnaryOp<InverserQuaternion>();
88
89 /* ----------------------------------------------------------------------- */
90 /* --- SE3/SO3 conversions ----------------------------------------------- */
91 /* ----------------------------------------------------------------------- */
92
93 2 exposeUnaryOp<SkewSymToVector>();
94 2 exposeUnaryOp<PoseUThetaToMatrixHomo>();
95 2 exposeUnaryOp<MatrixHomoToPoseUTheta>();
96 2 exposeUnaryOp<MatrixHomoToSE3Vector>();
97 2 exposeUnaryOp<SE3VectorToMatrixHomo>();
98 2 exposeUnaryOp<PoseQuaternionToMatrixHomo>();
99 2 exposeUnaryOp<MatrixHomoToPoseQuaternion>();
100 2 exposeUnaryOp<MatrixHomoToPoseRollPitchYaw>();
101 2 exposeUnaryOp<PoseRollPitchYawToMatrixHomo>();
102 2 exposeUnaryOp<PoseRollPitchYawToPoseUTheta>();
103 2 exposeUnaryOp<HomoToMatrix>();
104 2 exposeUnaryOp<MatrixToHomo>();
105 2 exposeUnaryOp<HomoToTwist>();
106 2 exposeUnaryOp<HomoToRotation>();
107 2 exposeUnaryOp<MatrixHomoToPose>();
108 2 exposeUnaryOp<RPYToMatrix>();
109 2 exposeUnaryOp<MatrixToRPY>();
110 2 exposeUnaryOp<RPYToQuaternion>();
111 2 exposeUnaryOp<QuaternionToRPY>();
112 2 exposeUnaryOp<QuaternionToMatrix>();
113 2 exposeUnaryOp<MatrixToQuaternion>();
114 2 exposeUnaryOp<MatrixToUTheta>();
115 2 exposeUnaryOp<UThetaToQuaternion>();
116
117 /* --- MULTIPLICATION --------------------------------------------------- */
118
119 2 exposeBinaryOp<Multiplier_double_vector>();
120 2 exposeBinaryOp<Multiplier_matrix_vector>();
121 2 exposeBinaryOp<Multiplier_matrixHomo_vector>();
122 2 exposeBinaryOp<Multiplier_matrixTwist_vector>();
123
124 /* --- SUBSTRACTION ----------------------------------------------------- */
125 2 exposeBinaryOp<Substraction<dynamicgraph::Matrix> >();
126 2 exposeBinaryOp<Substraction<dynamicgraph::Vector> >();
127 2 exposeBinaryOp<Substraction<double> >();
128
129 /* --- STACK ------------------------------------------------------------ */
130 2 exposeBinaryOp<VectorStack>();
131
132 /* ---------------------------------------------------------------------- */
133 2 exposeBinaryOp<Composer>();
134
135 /* --- CONVOLUTION PRODUCT ---------------------------------------------- */
136 2 exposeBinaryOp<ConvolutionTemporal>();
137
138 /* --- BOOLEAN REDUCTION ------------------------------------------------ */
139 2 exposeBinaryOp<Comparison<double> >();
140 2 exposeBinaryOp<MatrixComparison<Vector> >();
141
142 2 exposeBinaryOp<WeightedAdder<dynamicgraph::Matrix> >();
143 2 exposeBinaryOp<WeightedAdder<dynamicgraph::Vector> >();
144 2 exposeBinaryOp<WeightedAdder<double> >();
145
146 /* --- VectorMix ------------------------------------------------------------
147 */
148 2 exposeVariadicOp<VectorMix>();
149
150 /* --- ADDITION --------------------------------------------------------- */
151 2 exposeVariadicOp<AdderVariadic<Matrix> >();
152 2 exposeVariadicOp<AdderVariadic<Vector> >();
153 2 exposeVariadicOp<AdderVariadic<double> >();
154
155 /* --- MULTIPLICATION --------------------------------------------------- */
156 2 exposeVariadicOp<Multiplier<Matrix> >();
157 2 exposeVariadicOp<Multiplier<Vector> >();
158 2 exposeVariadicOp<Multiplier<MatrixRotation> >();
159 2 exposeVariadicOp<Multiplier<MatrixHomogeneous> >();
160 2 exposeVariadicOp<Multiplier<MatrixTwist> >();
161 2 exposeVariadicOp<Multiplier<VectorQuaternion> >();
162 2 exposeVariadicOp<Multiplier<double> >();
163
164 /* --- BOOLEAN --------------------------------------------------------- */
165 2 exposeVariadicOp<BoolOp<0> >();
166 2 exposeVariadicOp<BoolOp<1> >();
167 2 }
168