GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-joint-posture.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 60 84 71.4%
Branches: 52 120 43.3%
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_joint_hpp__
19 #define __tsid_python_task_joint_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-joint-posture.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 TaskJoint>
33 struct TaskJointPosturePythonVisitor
34 : public boost::python::def_visitor<
35 TaskJointPosturePythonVisitor<TaskJoint> > {
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", &TaskJoint::dim, "return dimension size")
42
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 16 .def("setReference", &TaskJointPosturePythonVisitor::setReference,
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 16 bp::arg("ref"))
44
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 8 .add_property(
45 "getDesiredAcceleration",
46 bp::make_function(
47 &TaskJointPosturePythonVisitor::getDesiredAcceleration,
48 8 bp::return_value_policy<bp::copy_const_reference>()),
49 "Return Acc_desired")
50
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 8 .add_property("mask",
51 bp::make_function(
52 &TaskJointPosturePythonVisitor::getmask,
53 8 bp::return_value_policy<bp::copy_const_reference>()),
54 "Return mask")
55
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 8 .def("setMask", &TaskJointPosturePythonVisitor::setmask,
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 16 bp::arg("mask"))
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 8 .def("getAcceleration", &TaskJointPosturePythonVisitor::getAcceleration,
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 16 bp::arg("dv"))
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 8 .add_property("position_error",
60 bp::make_function(
61 &TaskJointPosturePythonVisitor::position_error,
62 8 bp::return_value_policy<bp::copy_const_reference>()))
63
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 8 .add_property("velocity_error",
64 bp::make_function(
65 &TaskJointPosturePythonVisitor::velocity_error,
66 8 bp::return_value_policy<bp::copy_const_reference>()))
67
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 8 .add_property("position",
68 bp::make_function(
69 &TaskJointPosturePythonVisitor::position,
70 8 bp::return_value_policy<bp::copy_const_reference>()))
71
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 8 .add_property("velocity",
72 bp::make_function(
73 &TaskJointPosturePythonVisitor::velocity,
74 8 bp::return_value_policy<bp::copy_const_reference>()))
75
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 8 .add_property("position_ref",
76 bp::make_function(
77 &TaskJointPosturePythonVisitor::position_ref,
78 8 bp::return_value_policy<bp::copy_const_reference>()))
79
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 8 .add_property("velocity_ref",
80 bp::make_function(
81 &TaskJointPosturePythonVisitor::velocity_ref,
82 8 bp::return_value_policy<bp::copy_const_reference>()))
83
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 8 .add_property("Kp",
84 bp::make_function(
85 &TaskJointPosturePythonVisitor::Kp,
86 8 bp::return_value_policy<bp::copy_const_reference>()))
87
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 8 .add_property("Kd",
88 bp::make_function(
89 &TaskJointPosturePythonVisitor::Kd,
90 8 bp::return_value_policy<bp::copy_const_reference>()))
91
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 16 .def("setKp", &TaskJointPosturePythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &TaskJointPosturePythonVisitor::setKd, bp::arg("Kd"))
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 16 .def("compute", &TaskJointPosturePythonVisitor::compute,
94 bp::args("t", "q", "v", "data"))
95
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 8 .def("getConstraint", &TaskJointPosturePythonVisitor::getConstraint)
96
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 8 .add_property("name", &TaskJointPosturePythonVisitor::name);
97 8 }
98 ✗ static std::string name(TaskJoint& self) {
99 ✗ std::string name = self.name();
100 ✗ return name;
101 }
102 2000 static math::ConstraintEquality compute(TaskJoint& self, const double t,
103 const Eigen::VectorXd& q,
104 const Eigen::VectorXd& v,
105 pinocchio::Data& data) {
106
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 2000 self.compute(t, q, v, data);
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 4000 math::ConstraintEquality cons(self.getConstraint().name(),
108
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 2000 self.getConstraint().matrix(),
109 2000 self.getConstraint().vector());
110 2000 return cons;
111 }
112 ✗ static math::ConstraintEquality getConstraint(const TaskJoint& self) {
113 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
114 ✗ self.getConstraint().matrix(),
115 ✗ self.getConstraint().vector());
116 ✗ return cons;
117 }
118 3000 static void setReference(TaskJoint& self,
119 const trajectories::TrajectorySample& ref) {
120 3000 self.setReference(ref);
121 3000 }
122 ✗ static const Eigen::VectorXd& getDesiredAcceleration(const TaskJoint& self) {
123 ✗ return self.getDesiredAcceleration();
124 }
125 ✗ static const Eigen::VectorXd& getmask(const TaskJoint& self) {
126 ✗ return self.getMask();
127 }
128 ✗ static void setmask(TaskJoint& self, const Eigen::VectorXd mask) {
129 ✗ return self.setMask(mask);
130 }
131 ✗ static Eigen::VectorXd getAcceleration(TaskJoint& self,
132 const Eigen::VectorXd dv) {
133 ✗ return self.getAcceleration(dv);
134 }
135 2000 static const Eigen::VectorXd& position_error(const TaskJoint& self) {
136 2000 return self.position_error();
137 }
138 20 static const Eigen::VectorXd& velocity_error(const TaskJoint& self) {
139 20 return self.velocity_error();
140 }
141 ✗ static const Eigen::VectorXd& position(const TaskJoint& self) {
142 ✗ return self.position();
143 }
144 ✗ static const Eigen::VectorXd& velocity(const TaskJoint& self) {
145 ✗ return self.velocity();
146 }
147 ✗ static const Eigen::VectorXd& position_ref(const TaskJoint& self) {
148 ✗ return self.position_ref();
149 }
150 ✗ static const Eigen::VectorXd& velocity_ref(const TaskJoint& self) {
151 ✗ return self.velocity_ref();
152 }
153 2 static const Eigen::VectorXd& Kp(TaskJoint& self) { return self.Kp(); }
154 2 static const Eigen::VectorXd& Kd(TaskJoint& self) { return self.Kd(); }
155 3 static void setKp(TaskJoint& self, const ::Eigen::VectorXd Kp) {
156
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 3 return self.Kp(Kp);
157 }
158 3 static void setKd(TaskJoint& self, const ::Eigen::VectorXd Kv) {
159
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 3 return self.Kd(Kv);
160 }
161 8 static void expose(const std::string& class_name) {
162
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 8 std::string doc = "TaskJoint info.";
163
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 8 bp::class_<TaskJoint>(class_name.c_str(), doc.c_str(), bp::no_init)
164
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 8 .def(TaskJointPosturePythonVisitor<TaskJoint>());
165
166 // bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >();
167 8 }
168 };
169 } // namespace python
170 } // namespace tsid
171
172 #endif // ifndef __tsid_python_task_joint_hpp__
173