GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-am-equality.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 50 68 73.5%
Branches: 44 102 43.1%
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_task_am_hpp__
19 #define __tsid_python_task_am_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-angular-momentum-equality.hpp"
24 #include "tsid/robots/robot-wrapper.hpp"
25 #include "tsid/trajectories/trajectory-base.hpp"
26 #include "tsid/math/constraint-equality.hpp"
27 #include "tsid/math/constraint-base.hpp"
28 namespace tsid {
29 namespace python {
30 namespace bp = boost::python;
31
32 template <typename TaskAM>
33 struct TaskAMEqualityPythonVisitor
34 : public boost::python::def_visitor<TaskAMEqualityPythonVisitor<TaskAM> > {
35 template <class PyClass>
36
37 8 void visit(PyClass& cl) const {
38
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 8 cl.def(bp::init<std::string, robots::RobotWrapper&>(
39
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 16 (bp::arg("name"), bp::arg("robot")), "Default Constructor"))
40 16 .add_property("dim", &TaskAM::dim, "return dimension size")
41
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 16 .def("setReference", &TaskAMEqualityPythonVisitor::setReference,
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 16 bp::arg("ref"))
43
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 8 .add_property(
44 "getDesiredMomentumDerivative",
45 bp::make_function(
46 &TaskAMEqualityPythonVisitor::getDesiredMomentumDerivative,
47 8 bp::return_value_policy<bp::copy_const_reference>()),
48 "Return dL_desired")
49
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 8 .def("getdMomentum", &TaskAMEqualityPythonVisitor::getdMomentum,
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 16 bp::arg("dv"))
51
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 8 .add_property("momentum_error",
52 bp::make_function(
53 &TaskAMEqualityPythonVisitor::momentum_error,
54 8 bp::return_value_policy<bp::copy_const_reference>()))
55
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 8 .add_property("momentum",
56 bp::make_function(
57 &TaskAMEqualityPythonVisitor::momentum,
58 8 bp::return_value_policy<bp::copy_const_reference>()))
59
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 8 .add_property("momentum_ref",
60 bp::make_function(
61 &TaskAMEqualityPythonVisitor::momentum_ref,
62 8 bp::return_value_policy<bp::copy_const_reference>()))
63
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 8 .add_property("dmomentum_ref",
64 bp::make_function(
65 &TaskAMEqualityPythonVisitor::dmomentum_ref,
66 8 bp::return_value_policy<bp::copy_const_reference>()))
67
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 8 .add_property("Kp",
68 bp::make_function(
69 &TaskAMEqualityPythonVisitor::Kp,
70 8 bp::return_value_policy<bp::copy_const_reference>()))
71
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 8 .add_property("Kd",
72 bp::make_function(
73 &TaskAMEqualityPythonVisitor::Kd,
74 8 bp::return_value_policy<bp::copy_const_reference>()))
75
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 16 .def("setKp", &TaskAMEqualityPythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &TaskAMEqualityPythonVisitor::setKd, bp::arg("Kd"))
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 16 .def("compute", &TaskAMEqualityPythonVisitor::compute,
78 bp::args("t", "q", "v", "data"))
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 8 .def("getConstraint", &TaskAMEqualityPythonVisitor::getConstraint)
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 8 .add_property("name", &TaskAMEqualityPythonVisitor::name);
81 8 }
82 ✗ static std::string name(TaskAM& self) {
83 ✗ std::string name = self.name();
84 ✗ return name;
85 }
86 1000 static math::ConstraintEquality compute(TaskAM& self, const double t,
87 const Eigen::VectorXd& q,
88 const Eigen::VectorXd& v,
89 pinocchio::Data& data) {
90
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 1000 self.compute(t, q, v, data);
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 2000 math::ConstraintEquality cons(self.getConstraint().name(),
92
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 1000 self.getConstraint().matrix(),
93 1000 self.getConstraint().vector());
94 1000 return cons;
95 }
96 ✗ static math::ConstraintEquality getConstraint(const TaskAM& self) {
97 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
98 ✗ self.getConstraint().matrix(),
99 ✗ self.getConstraint().vector());
100 ✗ return cons;
101 }
102 1000 static void setReference(TaskAM& self,
103 const trajectories::TrajectorySample& ref) {
104 1000 self.setReference(ref);
105 1000 }
106 ✗ static const Eigen::Vector3d& getDesiredMomentumDerivative(
107 const TaskAM& self) {
108 ✗ return self.getDesiredMomentumDerivative();
109 }
110 ✗ static Eigen::Vector3d getdMomentum(TaskAM& self, const Eigen::VectorXd dv) {
111 ✗ return self.getdMomentum(dv);
112 }
113 1000 static const Eigen::Vector3d& momentum_error(const TaskAM& self) {
114 1000 return self.momentum_error();
115 }
116 ✗ static const Eigen::Vector3d& momentum(const TaskAM& self) {
117 ✗ return self.momentum();
118 }
119 ✗ static const Eigen::VectorXd& momentum_ref(const TaskAM& self) {
120 ✗ return self.momentum_ref();
121 }
122 ✗ static const Eigen::VectorXd& dmomentum_ref(const TaskAM& self) {
123 ✗ return self.dmomentum_ref();
124 }
125 1 static const Eigen::Vector3d& Kp(TaskAM& self) { return self.Kp(); }
126 1 static const Eigen::Vector3d& Kd(TaskAM& self) { return self.Kd(); }
127 1 static void setKp(TaskAM& self, const ::Eigen::VectorXd Kp) {
128
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 1 return self.Kp(Kp);
129 }
130 1 static void setKd(TaskAM& self, const ::Eigen::VectorXd Kv) {
131
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 1 return self.Kd(Kv);
132 }
133 8 static void expose(const std::string& class_name) {
134
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 8 std::string doc = "TaskAMEqualityPythonVisitor info.";
135
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 8 bp::class_<TaskAM>(class_name.c_str(), doc.c_str(), bp::no_init)
136
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 8 .def(TaskAMEqualityPythonVisitor<TaskAM>());
137 8 }
138 };
139 } // namespace python
140 } // namespace tsid
141
142 #endif // ifndef __tsid_python_task_am_hpp__
143