GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/solvers/solver-HQP-eiquadprog.hpp
Date: 2025-04-10 01:07:37
Exec Total Coverage
Lines: 22 30 73.3%
Branches: 19 48 39.6%
Line Branch Exec Source
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_solver_quadprog_hpp__
19 #define __tsid_python_solver_quadprog_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/solvers/solver-HQP-eiquadprog.hpp"
24 #include "tsid/solvers/solver-HQP-eiquadprog-fast.hpp"
25 #include "tsid/solvers/solver-HQP-output.hpp"
26 #include "tsid/solvers/fwd.hpp"
27 #include "tsid/bindings/python/utils/container.hpp"
28
29 namespace tsid {
30 namespace python {
31 namespace bp = boost::python;
32
33 template <typename Solver>
34 struct SolverHQuadProgPythonVisitor
35 : public boost::python::def_visitor<SolverHQuadProgPythonVisitor<Solver> > {
36 template <class PyClass>
37
38 32 void visit(PyClass &cl) const {
39
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 32 cl.def(bp::init<const std::string &>((bp::arg("name")),
40 "Default Constructor with name"))
41
42
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 64 .def("resize", &SolverHQuadProgPythonVisitor::resize,
43 bp::args("n", "neq", "nin"))
44 64 .add_property("ObjVal", &Solver::getObjectiveValue, "return obj value")
45
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 64 .def("solve", &SolverHQuadProgPythonVisitor::solve, bp::args("HQPData"))
46
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 64 .def("solve", &SolverHQuadProgPythonVisitor::solver_helper,
47 bp::args("HQPData for Python"))
48 64 .add_property("qpData", &Solver::getQPData, "return QP Data object")
49
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 64 .def("retrieveQPData", &Solver::retrieveQPData, bp::args("HQPData"))
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 32 .def("retrieveQPData", &SolverHQuadProgPythonVisitor::retrieveQPData,
51 bp::args("HQPData for Python"));
52 32 }
53
54 4 static void resize(Solver &self, unsigned int n, unsigned int neq,
55 unsigned int nin) {
56 4 self.resize(n, neq, nin);
57 }
58 ✗ static solvers::HQPOutput solve(Solver &self,
59 const solvers::HQPData &problemData) {
60 ✗ solvers::HQPOutput output;
61 ✗ output = self.solve(problemData);
62 ✗ return output;
63 }
64 1100 static solvers::HQPOutput solver_helper(Solver &self, HQPDatas &HQPDatas) {
65 2200 solvers::HQPOutput output;
66 2200 solvers::HQPData &data = HQPDatas.get();
67
68
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 2200 output = self.solve(data);
69
70 2200 return output;
71 }
72
73 ✗ static solvers::QPDataQuadProg retrieveQPData(Solver &self,
74 HQPDatas &HQPDatas) {
75 ✗ solvers::HQPData data = HQPDatas.get();
76 ✗ self.retrieveQPData(data);
77 ✗ return self.getQPData();
78 }
79
80 32 static void expose(const std::string &class_name) {
81
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 32 std::string doc = "Solver EiQuadProg info.";
82
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 32 bp::class_<Solver>(class_name.c_str(), doc.c_str(), bp::no_init)
83
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 32 .def(SolverHQuadProgPythonVisitor<Solver>());
84 32 }
85 };
86 } // namespace python
87 } // namespace tsid
88
89 #endif // ifndef __tsid_python_solver_quadprog_hpp__
90