GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-joint-posVelAcc-bounds.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 37 82 45.1%
Branches: 66 186 35.5%
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1 //
2 // Copyright (c) 2022 INRIA
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_joint_posVelAcc_bounds_hpp__
19 #define __tsid_python_task_joint_posVelAcc_bounds_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-joint-posVelAcc-bounds.hpp"
24 #include "tsid/robots/robot-wrapper.hpp"
25 #include "tsid/math/constraint-bound.hpp"
26 #include "tsid/math/constraint-base.hpp"
27
28 namespace tsid {
29 namespace python {
30 namespace bp = boost::python;
31 typedef math::ConstRefVector ConstRefVector;
32
33 template <typename Task>
34 struct TaskJointPosVelAccBoundsPythonVisitor
35 : public boost::python::def_visitor<
36 TaskJointPosVelAccBoundsPythonVisitor<Task>> {
37 template <class PyClass>
38
39 8 void visit(PyClass& cl) const {
40
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 24 cl.def(bp::init<std::string, robots::RobotWrapper&, double,
41 bp::optional<bool>>(
42
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 24 (bp::arg("name"), bp::arg("robot"), bp::arg("Time step"),
43
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 16 bp::arg("verbose")),
44 "Default Constructor"))
45 16 .add_property("dim", &Task::dim, "return dimension size")
46
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 16 .def("setTimeStep", &TaskJointPosVelAccBoundsPythonVisitor::setTimeStep,
47 bp::args("dt"))
48
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 16 .def("setPositionBounds",
49 &TaskJointPosVelAccBoundsPythonVisitor::setPositionBounds,
50 bp::args("lower", "upper"))
51
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 16 .def("setVelocityBounds",
52 &TaskJointPosVelAccBoundsPythonVisitor::setVelocityBounds,
53 bp::args("upper"))
54
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 16 .def("setAccelerationBounds",
55 &TaskJointPosVelAccBoundsPythonVisitor::setAccelerationBounds,
56 bp::args("upper"))
57
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 16 .def("compute", &TaskJointPosVelAccBoundsPythonVisitor::compute,
58 bp::args("t", "q", "v", "data"))
59
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 8 .def("getConstraint",
60 &TaskJointPosVelAccBoundsPythonVisitor::getConstraint)
61
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 16 .def("setVerbose", &TaskJointPosVelAccBoundsPythonVisitor::setVerbose,
62 bp::args("verbose"))
63
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 16 .def("setImposeBounds",
64 &TaskJointPosVelAccBoundsPythonVisitor::setImposeBounds,
65 bp::args("impose_position_bounds", "impose_velocity_bounds",
66 "impose_viability_bounds", "impose_acceleration_bounds"))
67
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 16 .def("isStateViable",
68 &TaskJointPosVelAccBoundsPythonVisitor::isStateViable,
69
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 24 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
70
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 16 .def("computeAccLimitsFromPosLimits",
71 &TaskJointPosVelAccBoundsPythonVisitor::
72 computeAccLimitsFromPosLimits,
73
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 24 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
74
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 16 .def("computeAccLimitsFromViability",
75 &TaskJointPosVelAccBoundsPythonVisitor::
76 computeAccLimitsFromViability,
77
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 24 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
78
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 16 .def("computeAccLimits",
79 &TaskJointPosVelAccBoundsPythonVisitor::computeAccLimits,
80
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 24 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
81
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 16 .def("setMask", &TaskJointPosVelAccBoundsPythonVisitor::setMask,
82 bp::args("mask"))
83
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 8 .add_property(
84 "getAccelerationBounds",
85 bp::make_function(
86 &TaskJointPosVelAccBoundsPythonVisitor::getAccelerationBounds,
87 8 bp::return_value_policy<bp::copy_const_reference>()))
88
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 8 .add_property(
89 "getVelocityBounds",
90 bp::make_function(
91 &TaskJointPosVelAccBoundsPythonVisitor::getVelocityBounds,
92 8 bp::return_value_policy<bp::copy_const_reference>()))
93
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 8 .add_property(
94 "getPositionLowerBounds",
95 bp::make_function(
96 &TaskJointPosVelAccBoundsPythonVisitor::getPositionLowerBounds,
97 8 bp::return_value_policy<bp::copy_const_reference>()))
98
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 16 .add_property(
99 "getPositionUpperBounds",
100 bp::make_function(
101 &TaskJointPosVelAccBoundsPythonVisitor::getPositionUpperBounds,
102 8 bp::return_value_policy<bp::copy_const_reference>()))
103
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 8 .add_property("name", &TaskJointPosVelAccBoundsPythonVisitor::name);
104 8 }
105 ✗ static std::string name(Task& self) {
106 ✗ std::string name = self.name();
107 ✗ return name;
108 }
109 ✗ static math::ConstraintBound compute(Task& self, const double t,
110 const Eigen::VectorXd& q,
111 const Eigen::VectorXd& v,
112 pinocchio::Data& data) {
113 ✗ self.compute(t, q, v, data);
114 ✗ math::ConstraintBound cons(self.getConstraint().name(),
115 ✗ self.getConstraint().lowerBound(),
116 ✗ self.getConstraint().upperBound());
117 ✗ return cons;
118 }
119 ✗ static math::ConstraintBound getConstraint(const Task& self) {
120 ✗ math::ConstraintBound cons(self.getConstraint().name(),
121 ✗ self.getConstraint().lowerBound(),
122 ✗ self.getConstraint().upperBound());
123 ✗ return cons;
124 }
125 ✗ static const Eigen::VectorXd& getAccelerationBounds(const Task& self) {
126 ✗ return self.getAccelerationBounds();
127 }
128 ✗ static const Eigen::VectorXd& getVelocityBounds(const Task& self) {
129 ✗ return self.getVelocityBounds();
130 }
131 ✗ static const Eigen::VectorXd& getPositionLowerBounds(const Task& self) {
132 ✗ return self.getPositionLowerBounds();
133 }
134 ✗ static const Eigen::VectorXd& getPositionUpperBounds(const Task& self) {
135 ✗ return self.getPositionUpperBounds();
136 }
137 ✗ static void setTimeStep(Task& self, const double dt) {
138 ✗ return self.setTimeStep(dt);
139 }
140 ✗ static void setPositionBounds(Task& self, const Eigen::VectorXd lower,
141 const Eigen::VectorXd upper) {
142 ✗ return self.setPositionBounds(lower, upper);
143 }
144 ✗ static void setVelocityBounds(Task& self, const Eigen::VectorXd upper) {
145 ✗ return self.setVelocityBounds(upper);
146 }
147 ✗ static void setAccelerationBounds(Task& self, const Eigen::VectorXd upper) {
148 ✗ return self.setAccelerationBounds(upper);
149 }
150 8 static void expose(const std::string& class_name) {
151
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 8 std::string doc = "Task info.";
152
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 8 bp::class_<Task>(class_name.c_str(), doc.c_str(), bp::no_init)
153
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 8 .def(TaskJointPosVelAccBoundsPythonVisitor<Task>());
154 8 }
155 ✗ static void setVerbose(Task& self, bool verbose) {
156 ✗ return self.setVerbose(verbose);
157 }
158 ✗ static void setImposeBounds(Task& self, bool impose_position_bounds,
159 bool impose_velocity_bounds,
160 bool impose_viability_bounds,
161 bool impose_acceleration_bounds) {
162 ✗ return self.setImposeBounds(impose_position_bounds, impose_velocity_bounds,
163 impose_viability_bounds,
164 ✗ impose_acceleration_bounds);
165 }
166
167 ✗ static void isStateViable(Task& self, ConstRefVector q, ConstRefVector dq,
168 bool verbose = true) {
169 ✗ return self.isStateViable(q, dq, verbose);
170 }
171 ✗ static void computeAccLimitsFromPosLimits(Task& self, ConstRefVector q,
172 ConstRefVector dq,
173 bool verbose = true) {
174 ✗ return self.computeAccLimitsFromPosLimits(q, dq, verbose);
175 }
176 ✗ static void computeAccLimitsFromViability(Task& self, ConstRefVector q,
177 ConstRefVector dq,
178 bool verbose = true) {
179 ✗ return self.computeAccLimitsFromViability(q, dq, verbose);
180 }
181 ✗ static void computeAccLimits(Task& self, ConstRefVector q, ConstRefVector dq,
182 bool verbose = true) {
183 ✗ return self.computeAccLimits(q, dq, verbose);
184 }
185 ✗ static void setMask(Task& self, math::ConstRefVector mask) {
186 ✗ return self.setMask(mask);
187 }
188 };
189 } // namespace python
190 } // namespace tsid
191
192 #endif // ifndef __tsid_python_task_actuation_bounds_hpp__
193