Directory: | ./ |
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File: | include/tsid/bindings/python/tasks/task-actuation-equality.hpp |
Date: | 2025-03-29 14:29:37 |
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1 | /* | ||
2 | * Author: Ram Charan Teja Thota | ||
3 | * Date: August 1, 2024 | ||
4 | * | ||
5 | * Description: | ||
6 | * this file contain boost python binding for task acutation equality | ||
7 | */ | ||
8 | // | ||
9 | // Copyright (c) 2018 CNRS | ||
10 | // | ||
11 | // This file is part of tsid | ||
12 | // tsid is free software: you can redistribute it | ||
13 | // and/or modify it under the terms of the GNU Lesser General Public | ||
14 | // License as published by the Free Software Foundation, either version | ||
15 | // 3 of the License, or (at your option) any later version. | ||
16 | // tsid is distributed in the hope that it will be | ||
17 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
18 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
19 | // General Lesser Public License for more details. You should have | ||
20 | // received a copy of the GNU Lesser General Public License along with | ||
21 | // tsid If not, see | ||
22 | // <http://www.gnu.org/licenses/>. | ||
23 | // | ||
24 | |||
25 | #ifndef __tsid_python_task_actuation_equality_hpp__ | ||
26 | #define __tsid_python_task_actuation_equality_hpp__ | ||
27 | |||
28 | #include "tsid/bindings/python/fwd.hpp" | ||
29 | |||
30 | #include "tsid/math/constraint-base.hpp" | ||
31 | #include "tsid/math/constraint-equality.hpp" | ||
32 | #include "tsid/robots/robot-wrapper.hpp" | ||
33 | #include "tsid/tasks/task-actuation-equality.hpp" | ||
34 | #include "tsid/trajectories/trajectory-base.hpp" | ||
35 | |||
36 | namespace tsid { | ||
37 | |||
38 | namespace python { | ||
39 | namespace bp = boost::python; | ||
40 | |||
41 | template <typename TaskAucEq> | ||
42 | struct TaskActuationEqualityPythonVisitor | ||
43 | : public boost::python::def_visitor< | ||
44 | TaskActuationEqualityPythonVisitor<TaskAucEq>> { | ||
45 | template <class PyClass> | ||
46 | |||
47 | 8 | void visit(PyClass &cl) const { | |
48 |
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8 | cl.def(bp::init<std::string, robots::RobotWrapper &>( |
49 |
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16 | (bp::arg("name"), bp::arg("robot")), "Default Constructor")) |
50 | |||
51 | 16 | .add_property("dim", &TaskAucEq::dim, "return dimension size") | |
52 | |||
53 |
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16 | .def("compute", &TaskActuationEqualityPythonVisitor::compute, |
54 | bp::args("t", "q", "v", "data")) | ||
55 | |||
56 |
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8 | .def("getConstraint", |
57 | &TaskActuationEqualityPythonVisitor::getConstraint) | ||
58 | |||
59 |
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8 | .add_property("mask", |
60 | bp::make_function( | ||
61 | &TaskActuationEqualityPythonVisitor::getmask, | ||
62 | 8 | bp::return_value_policy<bp::copy_const_reference>()), | |
63 | "Return mask") | ||
64 | |||
65 |
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8 | .def("setMask", &TaskActuationEqualityPythonVisitor::setmask, |
66 |
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16 | bp::arg("mask")) |
67 | |||
68 |
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8 | .def("setReference", &TaskActuationEqualityPythonVisitor::setReference, |
69 |
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16 | bp::arg("ref")) |
70 |
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8 | .def("getReference", &TaskActuationEqualityPythonVisitor::getReference, |
71 | ✗ | bp::return_value_policy<bp::copy_const_reference>()) | |
72 | |||
73 |
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8 | .def("setWeightVector", |
74 | &TaskActuationEqualityPythonVisitor::setWeightVector, | ||
75 |
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16 | bp::arg("weights")) |
76 |
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8 | .def("getWeightVector", |
77 | &TaskActuationEqualityPythonVisitor::getWeightVector, | ||
78 | 8 | bp::return_value_policy<bp::copy_const_reference>()); | |
79 | 8 | } | |
80 | |||
81 | static std::string name(TaskAucEq &self) { | ||
82 | std::string name = self.name(); | ||
83 | return name; | ||
84 | } | ||
85 | |||
86 | ✗ | static math::ConstraintEquality compute(TaskAucEq &self, const double t, | |
87 | const Eigen::VectorXd &q, | ||
88 | const Eigen::VectorXd &v, | ||
89 | pinocchio::Data &data) { | ||
90 | ✗ | self.compute(t, q, v, data); | |
91 | ✗ | math::ConstraintEquality cons(self.getConstraint().name(), | |
92 | ✗ | self.getConstraint().matrix(), | |
93 | ✗ | self.getConstraint().vector()); | |
94 | ✗ | return cons; | |
95 | } | ||
96 | |||
97 | ✗ | static math::ConstraintEquality getConstraint(const TaskAucEq &self) { | |
98 | ✗ | math::ConstraintEquality cons(self.getConstraint().name(), | |
99 | ✗ | self.getConstraint().matrix(), | |
100 | ✗ | self.getConstraint().vector()); | |
101 | ✗ | return cons; | |
102 | } | ||
103 | |||
104 | //// getter and setter of reference | ||
105 | ✗ | static void setReference(TaskAucEq &self, const Eigen::VectorXd &ref) { | |
106 | ✗ | self.setReference(ref); | |
107 | } | ||
108 | |||
109 | ✗ | static const Eigen::VectorXd &getReference(const TaskAucEq &self) { | |
110 | ✗ | return self.getReference(); | |
111 | } | ||
112 | |||
113 | // getter and setter of weight | ||
114 | ✗ | static void setWeightVector(TaskAucEq &self, const Eigen::VectorXd &weights) { | |
115 | ✗ | self.setWeightVector(weights); | |
116 | } | ||
117 | |||
118 | ✗ | static const Eigen::VectorXd &getWeightVector(const TaskAucEq &self) { | |
119 | ✗ | return self.getWeightVector(); | |
120 | } | ||
121 | |||
122 | // getter and setter of mask | ||
123 | ✗ | static const Eigen::VectorXd &getmask(const TaskAucEq &self) { | |
124 | ✗ | return self.mask(); | |
125 | } | ||
126 | |||
127 | ✗ | static void setmask(TaskAucEq &self, const Eigen::VectorXd mask) { | |
128 | ✗ | return self.mask(mask); | |
129 | } | ||
130 | |||
131 | 8 | static void expose(const std::string &class_name) { | |
132 |
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8 | std::string doc = "TaskActuationEqualityPythonVisitor info."; |
133 |
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8 | bp::class_<TaskAucEq>(class_name.c_str(), doc.c_str(), bp::no_init) |
134 |
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8 | .def(TaskActuationEqualityPythonVisitor<TaskAucEq>()); |
135 | |||
136 |
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8 | bp::register_ptr_to_python<boost::shared_ptr<math::ConstraintBase>>(); |
137 | 8 | } | |
138 | }; | ||
139 | |||
140 | } // namespace python | ||
141 | } // namespace tsid | ||
142 | |||
143 | #endif // ifndef __tsid_python_task_actuation_equality_hpp__ | ||
144 |