GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/contacts/contact-point.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 38 86 44.2%
Branches: 56 178 31.5%
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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_contact_6d_hpp__
19 #define __tsid_python_contact_6d_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/contacts/contact-point.hpp"
24 #include "tsid/robots/robot-wrapper.hpp"
25 #include "tsid/math/constraint-inequality.hpp"
26 #include "tsid/math/constraint-equality.hpp"
27 #include "tsid/math/constraint-base.hpp"
28
29 namespace tsid {
30 namespace python {
31 namespace bp = boost::python;
32
33 template <typename ContactPoint>
34 struct ContactPointPythonVisitor
35 : public boost::python::def_visitor<
36 ContactPointPythonVisitor<ContactPoint> > {
37 template <class PyClass>
38
39 8 void visit(PyClass& cl) const {
40
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 48 cl.def(bp::init<std::string, robots::RobotWrapper&, std::string,
41 Eigen::VectorXd, double, double, double>(
42
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 24 (bp::arg("name"), bp::arg("robot"), bp::arg("framename"),
43
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 24 bp::arg("contactNormal"), bp::arg("frictionCoeff"),
44
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 24 bp::arg("minForce"), bp::arg("maxForce")),
45 "Default Constructor"))
46 16 .add_property("n_motion", &ContactPoint::n_motion,
47 "return number of motion")
48
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 8 .add_property("n_force", &ContactPoint::n_force,
49 "return number of force")
50
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 8 .add_property("name", &ContactPointPythonVisitor::name, "return name")
51
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 16 .def("computeMotionTask", &ContactPointPythonVisitor::computeMotionTask,
52 bp::args("t", "q", "v", "data"))
53
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 16 .def("computeForceTask", &ContactPointPythonVisitor::computeForceTask,
54 bp::args("t", "q", "v", "data"))
55
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 16 .def("computeForceRegularizationTask",
56 &ContactPointPythonVisitor::computeForceRegularizationTask,
57 bp::args("t", "q", "v", "data"))
58
59
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 8 .add_property("getForceGeneratorMatrix",
60 bp::make_function(
61 &ContactPointPythonVisitor::getForceGeneratorMatrix,
62 8 bp::return_value_policy<bp::copy_const_reference>()))
63
64
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 8 .def("getNormalForce", &ContactPointPythonVisitor::getNormalForce,
65
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 16 bp::arg("vec"))
66 16 .add_property("getMinNormalForce", &ContactPoint::getMinNormalForce)
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 8 .add_property("getMaxNormalForce", &ContactPoint::getMaxNormalForce)
68
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 8 .add_property("Kp",
70 bp::make_function(
71 &ContactPointPythonVisitor::Kp,
72 8 bp::return_value_policy<bp::copy_const_reference>()))
73
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 8 .add_property("Kd",
74 bp::make_function(
75 &ContactPointPythonVisitor::Kd,
76 8 bp::return_value_policy<bp::copy_const_reference>()))
77
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 16 .def("setKp", &ContactPointPythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &ContactPointPythonVisitor::setKd, bp::arg("Kd"))
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 8 .def("useLocalFrame", &ContactPointPythonVisitor::useLocalFrame,
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 16 bp::arg("local_frame"))
82
83
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 16 .def("setContactNormal", &ContactPointPythonVisitor::setContactNormal,
84 bp::args("vec"))
85
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 16 .def("setFrictionCoefficient",
86 &ContactPointPythonVisitor::setFrictionCoefficient,
87 bp::args("friction_coeff"))
88
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 16 .def("setMinNormalForce", &ContactPointPythonVisitor::setMinNormalForce,
89 bp::args("min_force"))
90
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 16 .def("setMaxNormalForce", &ContactPointPythonVisitor::setMaxNormalForce,
91 bp::args("max_force"))
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 16 .def("setReference", &ContactPointPythonVisitor::setReference,
93 bp::args("SE3"))
94
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 16 .def("setForceReference", &ContactPointPythonVisitor::setForceReference,
95 bp::args("f_vec"))
96
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 8 .def("setRegularizationTaskWeightVector",
97 &ContactPointPythonVisitor::setRegularizationTaskWeightVector,
98 bp::args("w_vec"));
99 8 }
100 ✗ static std::string name(ContactPoint& self) {
101 ✗ std::string name = self.name();
102 ✗ return name;
103 }
104
105 ✗ static math::ConstraintEquality computeMotionTask(ContactPoint& self,
106 const double t,
107 const Eigen::VectorXd& q,
108 const Eigen::VectorXd& v,
109 pinocchio::Data& data) {
110 ✗ self.computeMotionTask(t, q, v, data);
111 ✗ math::ConstraintEquality cons(self.getMotionConstraint().name(),
112 ✗ self.getMotionConstraint().matrix(),
113 ✗ self.getMotionConstraint().vector());
114 ✗ return cons;
115 }
116 ✗ static math::ConstraintInequality computeForceTask(
117 ContactPoint& self, const double t, const Eigen::VectorXd& q,
118 const Eigen::VectorXd& v, const pinocchio::Data& data) {
119 ✗ self.computeForceTask(t, q, v, data);
120 ✗ math::ConstraintInequality cons(self.getForceConstraint().name(),
121 ✗ self.getForceConstraint().matrix(),
122 ✗ self.getForceConstraint().lowerBound(),
123 ✗ self.getForceConstraint().upperBound());
124 ✗ return cons;
125 }
126 ✗ static math::ConstraintEquality computeForceRegularizationTask(
127 ContactPoint& self, const double t, const Eigen::VectorXd& q,
128 const Eigen::VectorXd& v, const pinocchio::Data& data) {
129 ✗ self.computeForceRegularizationTask(t, q, v, data);
130 ✗ math::ConstraintEquality cons(self.getForceRegularizationTask().name(),
131 ✗ self.getForceRegularizationTask().matrix(),
132 ✗ self.getForceRegularizationTask().vector());
133 ✗ return cons;
134 }
135
136 ✗ static void useLocalFrame(ContactPoint& self, const bool local_frame) {
137 ✗ self.useLocalFrame(local_frame);
138 }
139 ✗ static const Eigen::MatrixXd& getForceGeneratorMatrix(ContactPoint& self) {
140 ✗ return self.getForceGeneratorMatrix();
141 }
142 ✗ static const Eigen::VectorXd& Kp(ContactPoint& self) { return self.Kp(); }
143 ✗ static const Eigen::VectorXd& Kd(ContactPoint& self) { return self.Kd(); }
144 ✗ static void setKp(ContactPoint& self, const ::Eigen::VectorXd Kp) {
145 ✗ return self.Kp(Kp);
146 }
147 ✗ static void setKd(ContactPoint& self, const ::Eigen::VectorXd Kd) {
148 ✗ return self.Kd(Kd);
149 }
150 static bool setContactPoints(ContactPoint& self,
151 const ::Eigen::MatrixXd contactpoints) {
152 return self.setContactPoints(contactpoints);
153 }
154 ✗ static bool setContactNormal(ContactPoint& self,
155 const ::Eigen::VectorXd contactNormal) {
156 ✗ return self.setContactNormal(contactNormal);
157 }
158 ✗ static bool setFrictionCoefficient(ContactPoint& self,
159 const double frictionCoefficient) {
160 ✗ return self.setFrictionCoefficient(frictionCoefficient);
161 }
162 ✗ static bool setMinNormalForce(ContactPoint& self,
163 const double minNormalForce) {
164 ✗ return self.setMinNormalForce(minNormalForce);
165 }
166 ✗ static bool setMaxNormalForce(ContactPoint& self,
167 const double maxNormalForce) {
168 ✗ return self.setMaxNormalForce(maxNormalForce);
169 }
170 ✗ static void setReference(ContactPoint& self, const pinocchio::SE3& ref) {
171 ✗ self.setReference(ref);
172 }
173 ✗ static void setForceReference(ContactPoint& self,
174 const ::Eigen::VectorXd f_ref) {
175 ✗ self.setForceReference(f_ref);
176 }
177 ✗ static void setRegularizationTaskWeightVector(ContactPoint& self,
178 const ::Eigen::VectorXd w) {
179 ✗ self.setRegularizationTaskWeightVector(w);
180 }
181 ✗ static double getNormalForce(ContactPoint& self, Eigen::VectorXd f) {
182 ✗ return self.getNormalForce(f);
183 }
184
185 8 static void expose(const std::string& class_name) {
186
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 8 std::string doc = "ContactPoint info.";
187
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 8 bp::class_<ContactPoint>(class_name.c_str(), doc.c_str(), bp::no_init)
188
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 8 .def(ContactPointPythonVisitor<ContactPoint>());
189 8 }
190 };
191 } // namespace python
192 } // namespace tsid
193
194 #endif // ifndef __tsid_python_contact_hpp__
195