GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/constraint/constraint-equality.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 32 36 88.9%
Branches: 41 82 50.0%
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1 //
2 // Copyright (c) 2018 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 // tsid is distributed in the hope that it will be
10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
13 // received a copy of the GNU Lesser General Public License along with
14 // tsid If not, see
15 // <http://www.gnu.org/licenses/>.
16 //
17
18 #ifndef __tsid_python_constriant_equality_hpp__
19 #define __tsid_python_constriant_equality_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/math/constraint-equality.hpp"
24
25 namespace tsid {
26 namespace python {
27 namespace bp = boost::python;
28
29 template <typename ConstraintEquality>
30 struct ConstraintEqPythonVisitor
31 : public boost::python::def_visitor<
32 ConstraintEqPythonVisitor<ConstraintEquality> > {
33 template <class PyClass>
34
35 7 void visit(PyClass& cl) const {
36
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 7 cl.def(bp::init<std::string>((bp::arg("name")),
37 "Default constructor with name."))
38
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 14 .def(bp::init<std::string, unsigned int, unsigned int>(
39
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 21 (bp::arg("name"), bp::arg("row"), bp::arg("col")),
40 "Default constructor with name and size."))
41
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 14 .def(bp::init<std::string, Eigen::MatrixXd, Eigen::VectorXd>(
42
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 21 (bp::arg("name"), bp::arg("A"), bp::arg("b")),
43 "Default constructor with name and constraint."))
44
45 14 .add_property("rows", &ConstraintEquality::rows)
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 7 .add_property("cols", &ConstraintEquality::cols)
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 14 .def("resize", &ConstraintEquality::resize,
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 14 (bp::arg("r"), bp::arg("c")), "Resize constraint size.")
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 7 .add_property("isEquality", &ConstraintEquality::isEquality)
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 7 .add_property("isInequality", &ConstraintEquality::isInequality)
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 7 .add_property("isBound", &ConstraintEquality::isBound)
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 7 .add_property("matrix", &ConstraintEqPythonVisitor::matrix)
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 7 .add_property("vector", &ConstraintEqPythonVisitor::vector)
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 7 .add_property("lowerBound", &ConstraintEqPythonVisitor::lowerBound)
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 7 .add_property("upperBound", &ConstraintEqPythonVisitor::upperBound)
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59
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 14 .def("setMatrix",
60 (bool(ConstraintEquality::*)(
61 const Eigen::Ref<const Eigen::MatrixXd>)) &
62 ConstraintEquality::setMatrix,
63 bp::args("matrix"), "Set Matrix")
64
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 14 .def("setVector",
65 (bool(ConstraintEquality::*)(
66 const Eigen::Ref<const Eigen::VectorXd>)) &
67 ConstraintEquality::setVector,
68 bp::args("vector"), "Set Vector")
69
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 14 .def("setLowerBound",
70 (bool(ConstraintEquality::*)(
71 const Eigen::Ref<const Eigen::VectorXd>)) &
72 ConstraintEquality::setLowerBound,
73 bp::args("lb"), "Set LowerBound")
74
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 7 .def("setUpperBound",
75 (bool(ConstraintEquality::*)(
76 const Eigen::Ref<const Eigen::VectorXd>)) &
77 ConstraintEquality::setUpperBound,
78 bp::args("ub"), "Set UpperBound")
79
80 ;
81 7 }
82 10100 static Eigen::MatrixXd matrix(const ConstraintEquality& self) {
83 10100 return self.matrix();
84 }
85 5100 static Eigen::VectorXd vector(const ConstraintEquality& self) {
86 5100 return self.vector();
87 }
88 ✗ static Eigen::VectorXd lowerBound(const ConstraintEquality& self) {
89 ✗ return self.lowerBound();
90 }
91 ✗ static Eigen::VectorXd upperBound(const ConstraintEquality& self) {
92 ✗ return self.upperBound();
93 }
94
95 7 static void expose(const std::string& class_name) {
96
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 7 std::string doc = "Constraint Equality info.";
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 7 bp::class_<ConstraintEquality>(class_name.c_str(), doc.c_str(), bp::no_init)
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 7 .def(ConstraintEqPythonVisitor<ConstraintEquality>());
99
100
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 7 eigenpy::enableEigenPySpecific<Eigen::MatrixXd>();
101 7 }
102 };
103 } // namespace python
104 } // namespace tsid
105
106 #endif // ifndef __tsid_python_constriant_equality_hpp__
107