GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/robots/robot-wrapper.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 75 113 66.4%
Branches: 94 192 49.0%
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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_robot_wrapper_hpp__
19 #define __tsid_python_robot_wrapper_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/robots/robot-wrapper.hpp"
24
25 namespace tsid {
26 namespace python {
27 namespace bp = boost::python;
28
29 template <typename Robot>
30 struct RobotPythonVisitor
31 : public boost::python::def_visitor<RobotPythonVisitor<Robot> > {
32 typedef std::vector<std::string> std_vec;
33 typedef Eigen::Matrix<double, 3, Eigen::Dynamic> Matrix3x;
34
35 template <class PyClass>
36
37 7 void visit(PyClass &cl) const {
38 cl
39
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 14 .def(bp::init<std::string, std_vec, bool>(
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 21 (bp::arg("filename"), bp::arg("package_dir"), bp::arg("verbose")),
41 "Default constructor without RootJoint."))
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 21 .def(bp::init<std::string, std_vec, pinocchio::JointModelVariant &,
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 14 bool>((bp::arg("filename"), bp::arg("package_dir"),
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 21 bp::arg("roottype"), bp::arg("verbose")),
45 "Default constructor with RootJoint."))
46
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 7 .def(bp::init<pinocchio::Model, bool>(
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 14 (bp::arg("Pinocchio Model"), bp::arg("verbose")),
48 "Default constructor from pinocchio model without RootJoint."))
49
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 14 .def(bp::init<pinocchio::Model, robots::RobotWrapper::RootJointType,
50 bool>(
51
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 14 (bp::arg("Pinocchio Model"), bp::arg("rootJoint"),
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 14 bp::arg("verbose")),
53 "Default constructor from pinocchio model with RootJoint."))
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 14 .def("__init__",
55 bp::make_constructor(RobotPythonVisitor<Robot>::makeClass))
56 14 .add_property("nq", &Robot::nq)
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 7 .add_property("nv", &Robot::nv)
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 7 .add_property("na", &Robot::na)
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 7 .add_property("nq_actuated", &Robot::nq_actuated)
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 7 .add_property("is_fixed_base", &Robot::is_fixed_base)
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 7 .def("model", &RobotPythonVisitor::model)
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 7 .def("data", &RobotPythonVisitor::data)
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 7 .add_property("rotor_inertias", &RobotPythonVisitor::rotor_inertias)
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 7 .add_property("gear_ratios", &RobotPythonVisitor::gear_ratios)
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 7 .def("set_rotor_inertias", &RobotPythonVisitor::set_rotor_inertias,
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 14 bp::arg("inertia vector"))
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 7 .def("set_gear_ratios", &RobotPythonVisitor::set_gear_ratios,
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 14 bp::arg("gear ratio vector"))
71
72
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 14 .def("computeAllTerms", &RobotPythonVisitor::computeAllTerms,
73 bp::args("data", "q", "v"), "compute all dynamics")
74
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 14 .def("com", &RobotPythonVisitor::com, bp::arg("data"))
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 14 .def("com_vel", &RobotPythonVisitor::com_vel, bp::arg("data"))
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 14 .def("com_acc", &RobotPythonVisitor::com_acc, bp::arg("data"))
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 14 .def("Jcom", &RobotPythonVisitor::Jcom, bp::arg("data"))
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 14 bp::arg("data"))
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 14 .def("position", &RobotPythonVisitor::position,
82 bp::args("data", "index"))
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 14 .def("velocity", &RobotPythonVisitor::velocity,
84 bp::args("data", "index"))
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 14 .def("acceleration", &RobotPythonVisitor::acceleration,
86 bp::args("data", "index"))
87
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 14 .def("framePosition", &RobotPythonVisitor::framePosition,
89 bp::args("data", "index"))
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 14 .def("frameVelocity", &RobotPythonVisitor::frameVelocity,
91 bp::args("data", "index"))
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 14 .def("frameAcceleration", &RobotPythonVisitor::frameAcceleration,
93 bp::args("data", "index"))
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 14 .def("frameClassicAcceleration",
95 &RobotPythonVisitor::frameClassicAcceleration,
96 bp::args("data", "index"))
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 14 .def("frameVelocityWorldOriented",
98 &RobotPythonVisitor::frameVelocityWorldOriented,
99 bp::args("data", "index"))
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101 &RobotPythonVisitor::frameAccelerationWorldOriented,
102 bp::args("data", "index"))
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104 &RobotPythonVisitor::frameClassicAccelerationWorldOriented,
105 bp::args("data", "index"))
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 7 .def("angularMomentumTimeVariation",
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 7 .def("setGravity", &RobotPythonVisitor::setGravity, bp::arg("gravity"));
109 7 }
110
111 5 static boost::shared_ptr<Robot> makeClass(
112 const std::string &filename, const std::vector<std::string> &stdvec,
113 bp::object &bpObject, bool verbose) {
114 5 pinocchio::JointModelFreeFlyer root_joint =
115
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 5 bp::extract<pinocchio::JointModelFreeFlyer>(bpObject)();
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 10 boost::shared_ptr<Robot> p(
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 5 new tsid::robots::RobotWrapper(filename, stdvec, root_joint, verbose));
118 10 return p;
119 }
120
121 1012 static pinocchio::Model model(const Robot &self) { return self.model(); }
122 1004 static pinocchio::Data data(const Robot &self) {
123 1004 pinocchio::Data data(self.model());
124 1004 return data;
125 }
126 ✗ static Eigen::VectorXd rotor_inertias(const Robot &self) {
127 ✗ return self.rotor_inertias();
128 }
129 ✗ static Eigen::VectorXd gear_ratios(const Robot &self) {
130 ✗ return self.gear_ratios();
131 }
132 ✗ static bool set_rotor_inertias(Robot &self, Eigen::VectorXd &rotor_inertias) {
133 ✗ return self.rotor_inertias(rotor_inertias);
134 }
135 ✗ static bool set_gear_ratios(Robot &self, Eigen::VectorXd &gear_ratios) {
136 ✗ return self.gear_ratios(gear_ratios);
137 }
138
139 3 static Eigen::Vector3d com(const Robot &self, const pinocchio::Data &data) {
140 3 return self.com(data);
141 }
142 ✗ static Eigen::Vector3d com_vel(const Robot &self,
143 const pinocchio::Data &data) {
144 ✗ return self.com_vel(data);
145 }
146 ✗ static Eigen::Vector3d com_acc(const Robot &self,
147 const pinocchio::Data &data) {
148 ✗ return self.com_acc(data);
149 }
150 ✗ static Matrix3x Jcom(const Robot &self, const pinocchio::Data &data) {
151 ✗ return self.Jcom(data);
152 }
153 6001 static void computeAllTerms(const Robot &self, pinocchio::Data &data,
154 const Eigen::VectorXd &q,
155 const Eigen::VectorXd &v) {
156 6001 self.computeAllTerms(data, q, v);
157 6001 }
158 ✗ static Eigen::MatrixXd mass(Robot &self, pinocchio::Data &data) {
159 ✗ return self.mass(data);
160 }
161 ✗ static Eigen::VectorXd nonLinearEffects(const Robot &self,
162 const pinocchio::Data &data) {
163 ✗ return self.nonLinearEffects(data);
164 }
165 3 static pinocchio::SE3 position(const Robot &self, const pinocchio::Data &data,
166 const pinocchio::Model::JointIndex &index) {
167 3 return self.position(data, index);
168 }
169 ✗ static pinocchio::Motion velocity(const Robot &self,
170 const pinocchio::Data &data,
171 const pinocchio::Model::JointIndex &index) {
172 ✗ return self.velocity(data, index);
173 }
174 ✗ static pinocchio::Motion acceleration(
175 const Robot &self, const pinocchio::Data &data,
176 const pinocchio::Model::JointIndex &index) {
177 ✗ return self.acceleration(data, index);
178 }
179 ✗ static pinocchio::SE3 framePosition(
180 const Robot &self, const pinocchio::Data &data,
181 const pinocchio::Model::FrameIndex &index) {
182 ✗ return self.framePosition(data, index);
183 }
184 ✗ static pinocchio::Motion frameVelocity(
185 const Robot &self, const pinocchio::Data &data,
186 const pinocchio::Model::FrameIndex &index) {
187 ✗ return self.frameVelocity(data, index);
188 }
189 ✗ static pinocchio::Motion frameAcceleration(
190 const Robot &self, const pinocchio::Data &data,
191 const pinocchio::Model::FrameIndex &index) {
192 ✗ return self.frameAcceleration(data, index);
193 }
194 ✗ static pinocchio::Motion frameClassicAcceleration(
195 const Robot &self, const pinocchio::Data &data,
196 const pinocchio::Model::FrameIndex &index) {
197 ✗ return self.frameClassicAcceleration(data, index);
198 }
199 ✗ static pinocchio::Motion frameVelocityWorldOriented(
200 const Robot &self, const pinocchio::Data &data,
201 const pinocchio::Model::FrameIndex &index) {
202 ✗ return self.frameVelocityWorldOriented(data, index);
203 }
204 ✗ static pinocchio::Motion frameAccelerationWorldOriented(
205 const Robot &self, const pinocchio::Data &data,
206 const pinocchio::Model::FrameIndex &index) {
207 ✗ return self.frameAccelerationWorldOriented(data, index);
208 }
209 ✗ static pinocchio::Motion frameClassicAccelerationWorldOriented(
210 const Robot &self, const pinocchio::Data &data,
211 const pinocchio::Model::FrameIndex &index) {
212 ✗ return self.frameClassicAccelerationWorldOriented(data, index);
213 }
214 ✗ static Eigen::Vector3d angularMomentumTimeVariation(
215 const Robot &self, const pinocchio::Data &data) {
216 ✗ return self.angularMomentumTimeVariation(data);
217 }
218 1 static void setGravity(Robot &self, const pinocchio::Motion &gravity) {
219 1 return self.setGravity(gravity);
220 }
221 7 static void expose(const std::string &class_name) {
222
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 7 std::string doc = "Robot Wrapper info.";
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 7 bp::class_<Robot>(class_name.c_str(), doc.c_str(), bp::no_init)
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 7 .def(RobotPythonVisitor<Robot>());
225 ;
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 14 bp::enum_<robots::RobotWrapper::RootJointType>("RootJointType")
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229 robots::RobotWrapper::FLOATING_BASE_SYSTEM)
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 7 .export_values();
231 7 }
232 };
233 } // namespace python
234 } // namespace tsid
235
236 #endif // ifndef __tsid_python_robot_wrapper_hpp__
237