GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-actuation-equality.hpp
Date: 2025-04-10 01:07:37
Exec Total Coverage
Lines: 24 48 50.0%
Branches: 22 76 28.9%
Line Branch Exec Source
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,
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 16 bp::arg("mask"))
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 8 .def("setReference", &TaskActuationEqualityPythonVisitor::setReference,
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 16 bp::arg("ref"))
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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,
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 16 bp::arg("weights"))
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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.";
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 8 bp::class_<TaskAucEq>(class_name.c_str(), doc.c_str(), bp::no_init)
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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