GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-cop-equality.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 17 35 48.6%
Branches: 16 60 26.7%
Line Branch Exec Source
1 //
2 // Copyright (c) 2021 University of Trento
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_cop_hpp__
19 #define __tsid_python_task_cop_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-cop-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 TaskCOP>
33 struct TaskCOPEqualityPythonVisitor
34 : public boost::python::def_visitor<
35 TaskCOPEqualityPythonVisitor<TaskCOP> > {
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", &TaskCOP::dim, "return dimension size")
42
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 16 .def("setReference", &TaskCOPEqualityPythonVisitor::setReference,
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 16 bp::arg("ref"))
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 8 .def("setContactNormal",
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 16 &TaskCOPEqualityPythonVisitor::setContactNormal, bp::arg("normal"))
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 16 .def("compute", &TaskCOPEqualityPythonVisitor::compute,
47 bp::args("t", "q", "v", "data"))
48
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 8 .def("getConstraint", &TaskCOPEqualityPythonVisitor::getConstraint)
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 8 .add_property("name", &TaskCOPEqualityPythonVisitor::name);
50 8 }
51 ✗ static std::string name(TaskCOP& self) {
52 ✗ std::string name = self.name();
53 ✗ return name;
54 }
55 ✗ static math::ConstraintEquality compute(TaskCOP& self, const double t,
56 const Eigen::VectorXd& q,
57 const Eigen::VectorXd& v,
58 pinocchio::Data& data) {
59 ✗ self.compute(t, q, v, data);
60 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
61 ✗ self.getConstraint().matrix(),
62 ✗ self.getConstraint().vector());
63 ✗ return cons;
64 }
65 ✗ static math::ConstraintEquality getConstraint(const TaskCOP& self) {
66 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
67 ✗ self.getConstraint().matrix(),
68 ✗ self.getConstraint().vector());
69 ✗ return cons;
70 }
71 ✗ static void setReference(TaskCOP& self, const Eigen::Vector3d& ref) {
72 ✗ self.setReference(ref);
73 }
74 ✗ static void setContactNormal(TaskCOP& self, const Eigen::Vector3d& n) {
75 ✗ self.setContactNormal(n);
76 }
77 8 static void expose(const std::string& class_name) {
78
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 8 std::string doc = "TaskCOPEqualityPythonVisitor info.";
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 8 bp::class_<TaskCOP>(class_name.c_str(), doc.c_str(), bp::no_init)
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 8 .def(TaskCOPEqualityPythonVisitor<TaskCOP>());
81 8 }
82 };
83 } // namespace python
84 } // namespace tsid
85
86 #endif // ifndef __tsid_python_task_cop_hpp__
87