GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-com-equality.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 64 85 75.3%
Branches: 53 122 43.4%
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_com_hpp__
19 #define __tsid_python_task_com_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-com-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 TaskCOM>
33 struct TaskCOMEqualityPythonVisitor
34 : public boost::python::def_visitor<
35 TaskCOMEqualityPythonVisitor<TaskCOM> > {
36 template <class PyClass>
37
38 8 void visit(PyClass& cl) const {
39
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 8 cl.def(bp::init<std::string, robots::RobotWrapper&>(
40
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 16 (bp::arg("name"), bp::arg("robot")), "Default Constructor"))
41 16 .add_property("dim", &TaskCOM::dim, "return dimension size")
42
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 16 .def("setReference", &TaskCOMEqualityPythonVisitor::setReference,
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 16 bp::arg("ref"))
44
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 8 .add_property("getDesiredAcceleration",
45 bp::make_function(
46 &TaskCOMEqualityPythonVisitor::getDesiredAcceleration,
47 8 bp::return_value_policy<bp::copy_const_reference>()),
48 "Return Acc_desired")
49
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 8 .def("getAcceleration", &TaskCOMEqualityPythonVisitor::getAcceleration,
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 16 bp::arg("dv"))
51
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 8 .add_property("position_error",
52 bp::make_function(
53 &TaskCOMEqualityPythonVisitor::position_error,
54 8 bp::return_value_policy<bp::copy_const_reference>()))
55
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 8 .add_property("velocity_error",
56 bp::make_function(
57 &TaskCOMEqualityPythonVisitor::velocity_error,
58 8 bp::return_value_policy<bp::copy_const_reference>()))
59
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 8 .add_property("position",
60 bp::make_function(
61 &TaskCOMEqualityPythonVisitor::position,
62 8 bp::return_value_policy<bp::copy_const_reference>()))
63
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 8 .add_property("velocity",
64 bp::make_function(
65 &TaskCOMEqualityPythonVisitor::velocity,
66 8 bp::return_value_policy<bp::copy_const_reference>()))
67
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 8 .add_property("position_ref",
68 bp::make_function(
69 &TaskCOMEqualityPythonVisitor::position_ref,
70 8 bp::return_value_policy<bp::copy_const_reference>()))
71
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 8 .add_property("velocity_ref",
72 bp::make_function(
73 &TaskCOMEqualityPythonVisitor::velocity_ref,
74 8 bp::return_value_policy<bp::copy_const_reference>()))
75
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 8 .add_property("Kp",
76 bp::make_function(
77 &TaskCOMEqualityPythonVisitor::Kp,
78 8 bp::return_value_policy<bp::copy_const_reference>()))
79
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 8 .add_property("Kd",
80 bp::make_function(
81 &TaskCOMEqualityPythonVisitor::Kd,
82 8 bp::return_value_policy<bp::copy_const_reference>()))
83
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 16 .def("setKp", &TaskCOMEqualityPythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &TaskCOMEqualityPythonVisitor::setKd, bp::arg("Kd"))
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 16 .def("compute", &TaskCOMEqualityPythonVisitor::compute,
86 bp::args("t", "q", "v", "data"))
87
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 8 .def("getConstraint", &TaskCOMEqualityPythonVisitor::getConstraint)
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 8 .add_property("name", &TaskCOMEqualityPythonVisitor::name)
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 8 .add_property("mask",
90 bp::make_function(
91 &TaskCOMEqualityPythonVisitor::getmask,
92 8 bp::return_value_policy<bp::copy_const_reference>()),
93 "Return mask")
94
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 8 .def("setMask", &TaskCOMEqualityPythonVisitor::setmask,
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 16 bp::arg("mask"));
96 8 }
97 9 static std::string name(TaskCOM& self) {
98 9 std::string name = self.name();
99 9 return name;
100 }
101 1000 static math::ConstraintEquality compute(TaskCOM& self, const double t,
102 const Eigen::VectorXd& q,
103 const Eigen::VectorXd& v,
104 pinocchio::Data& data) {
105
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 1000 self.compute(t, q, v, data);
106
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 2000 math::ConstraintEquality cons(self.getConstraint().name(),
107
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 1000 self.getConstraint().matrix(),
108 1000 self.getConstraint().vector());
109 1000 return cons;
110 }
111 ✗ static math::ConstraintEquality getConstraint(const TaskCOM& self) {
112 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
113 ✗ self.getConstraint().matrix(),
114 ✗ self.getConstraint().vector());
115 ✗ return cons;
116 }
117 2000 static void setReference(TaskCOM& self,
118 const trajectories::TrajectorySample& ref) {
119 2000 self.setReference(ref);
120 2000 }
121 ✗ static const Eigen::VectorXd& getDesiredAcceleration(const TaskCOM& self) {
122 ✗ return self.getDesiredAcceleration();
123 }
124 ✗ static Eigen::VectorXd getAcceleration(TaskCOM& self,
125 const Eigen::VectorXd dv) {
126 ✗ return self.getAcceleration(dv);
127 }
128 1009 static const Eigen::VectorXd& position_error(const TaskCOM& self) {
129 1009 return self.position_error();
130 }
131 10 static const Eigen::VectorXd& velocity_error(const TaskCOM& self) {
132 10 return self.velocity_error();
133 }
134 ✗ static const Eigen::VectorXd& position(const TaskCOM& self) {
135 ✗ return self.position();
136 }
137 ✗ static const Eigen::VectorXd& velocity(const TaskCOM& self) {
138 ✗ return self.velocity();
139 }
140 ✗ static const Eigen::VectorXd& position_ref(const TaskCOM& self) {
141 ✗ return self.position_ref();
142 }
143 ✗ static const Eigen::VectorXd& velocity_ref(const TaskCOM& self) {
144 ✗ return self.velocity_ref();
145 }
146 1 static const Eigen::Vector3d& Kp(TaskCOM& self) { return self.Kp(); }
147 1 static const Eigen::Vector3d& Kd(TaskCOM& self) { return self.Kd(); }
148 2 static void setKp(TaskCOM& self, const ::Eigen::VectorXd Kp) {
149
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 2 return self.Kp(Kp);
150 }
151 2 static void setKd(TaskCOM& self, const ::Eigen::VectorXd Kv) {
152
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 2 return self.Kd(Kv);
153 }
154 ✗ static const Eigen::VectorXd& getmask(const TaskCOM& self) {
155 ✗ return self.getMask();
156 }
157 ✗ static void setmask(TaskCOM& self, const Eigen::VectorXd mask) {
158 ✗ return self.setMask(mask);
159 }
160 8 static void expose(const std::string& class_name) {
161
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 8 std::string doc = "TaskCOMEqualityPythonVisitor info.";
162
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 8 bp::class_<TaskCOM>(class_name.c_str(), doc.c_str(), bp::no_init)
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 8 .def(TaskCOMEqualityPythonVisitor<TaskCOM>());
164
165
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 8 bp::register_ptr_to_python<boost::shared_ptr<math::ConstraintBase> >();
166 8 }
167 };
168 } // namespace python
169 } // namespace tsid
170
171 #endif // ifndef __tsid_python_task_com_hpp__
172