GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-se3-equality.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 62 87 71.3%
Branches: 57 130 43.8%
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_se3_hpp__
19 #define __tsid_python_task_se3_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-se3-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 TaskSE3>
33 struct TaskSE3EqualityPythonVisitor
34 : public boost::python::def_visitor<
35 TaskSE3EqualityPythonVisitor<TaskSE3> > {
36 template <class PyClass>
37
38 8 void visit(PyClass& cl) const {
39
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 16 cl.def(bp::init<std::string, robots::RobotWrapper&, std::string>(
40
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 24 (bp::arg("name"), bp::arg("robot"), bp::arg("framename")),
41 "Default Constructor"))
42 16 .add_property("dim", &TaskSE3::dim, "return dimension size")
43
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 16 .def("setReference", &TaskSE3EqualityPythonVisitor::setReference,
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 16 bp::arg("ref"))
45
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 8 .add_property("getDesiredAcceleration",
46 bp::make_function(
47 &TaskSE3EqualityPythonVisitor::getDesiredAcceleration,
48 8 bp::return_value_policy<bp::copy_const_reference>()),
49 "Return Acc_desired")
50
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 8 .def("getAcceleration", &TaskSE3EqualityPythonVisitor::getAcceleration,
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 16 bp::arg("dv"))
52
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 8 .add_property("position_error",
53 bp::make_function(
54 &TaskSE3EqualityPythonVisitor::position_error,
55 8 bp::return_value_policy<bp::copy_const_reference>()))
56
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 8 .add_property("velocity_error",
57 bp::make_function(
58 &TaskSE3EqualityPythonVisitor::velocity_error,
59 8 bp::return_value_policy<bp::copy_const_reference>()))
60
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 8 .add_property("position",
61 bp::make_function(
62 &TaskSE3EqualityPythonVisitor::position,
63 8 bp::return_value_policy<bp::copy_const_reference>()))
64
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 8 .add_property("velocity",
65 bp::make_function(
66 &TaskSE3EqualityPythonVisitor::velocity,
67 8 bp::return_value_policy<bp::copy_const_reference>()))
68
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 8 .add_property("position_ref",
69 bp::make_function(
70 &TaskSE3EqualityPythonVisitor::position_ref,
71 8 bp::return_value_policy<bp::copy_const_reference>()))
72
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 8 .add_property("velocity_ref",
73 bp::make_function(
74 &TaskSE3EqualityPythonVisitor::velocity_ref,
75 8 bp::return_value_policy<bp::copy_const_reference>()))
76
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 8 .add_property("Kp",
77 bp::make_function(
78 &TaskSE3EqualityPythonVisitor::Kp,
79 8 bp::return_value_policy<bp::copy_const_reference>()))
80
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 8 .add_property("Kd",
81 bp::make_function(
82 &TaskSE3EqualityPythonVisitor::Kd,
83 8 bp::return_value_policy<bp::copy_const_reference>()))
84
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 16 .def("setKp", &TaskSE3EqualityPythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &TaskSE3EqualityPythonVisitor::setKd, bp::arg("Kd"))
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 8 .def("useLocalFrame", &TaskSE3EqualityPythonVisitor::useLocalFrame,
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 16 bp::arg("local_frame"))
88
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 8 .add_property("mask",
89 bp::make_function(
90 &TaskSE3EqualityPythonVisitor::getMask,
91 8 bp::return_value_policy<bp::copy_const_reference>()),
92 "Return mask")
93
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 16 .def("setMask", &TaskSE3EqualityPythonVisitor::setMask, bp::arg("mask"))
94
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 16 .def("compute", &TaskSE3EqualityPythonVisitor::compute,
95 bp::args("t", "q", "v", "data"))
96
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 8 .def("getConstraint", &TaskSE3EqualityPythonVisitor::getConstraint)
97 16 .add_property("frame_id", &TaskSE3::frame_id, "frame id return")
98
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 8 .add_property("name", &TaskSE3EqualityPythonVisitor::name);
99 8 }
100 ✗ static std::string name(TaskSE3& self) {
101 ✗ std::string name = self.name();
102 ✗ return name;
103 }
104 1000 static math::ConstraintEquality compute(TaskSE3& self, const double t,
105 const Eigen::VectorXd& q,
106 const Eigen::VectorXd& v,
107 pinocchio::Data& data) {
108
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 1000 self.compute(t, q, v, data);
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 2000 math::ConstraintEquality cons(self.getConstraint().name(),
110
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 1000 self.getConstraint().matrix(),
111 1000 self.getConstraint().vector());
112 1000 return cons;
113 }
114 ✗ static math::ConstraintEquality getConstraint(const TaskSE3& self) {
115 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
116 ✗ self.getConstraint().matrix(),
117 ✗ self.getConstraint().vector());
118 ✗ return cons;
119 }
120 1001 static void setReference(TaskSE3& self, trajectories::TrajectorySample& ref) {
121 1001 self.setReference(ref);
122 1001 }
123 ✗ static const Eigen::VectorXd& getDesiredAcceleration(const TaskSE3& self) {
124 ✗ return self.getDesiredAcceleration();
125 }
126 ✗ static Eigen::VectorXd getAcceleration(TaskSE3& self,
127 const Eigen::VectorXd dv) {
128 ✗ return self.getAcceleration(dv);
129 }
130 1000 static const Eigen::VectorXd& position_error(const TaskSE3& self) {
131 1000 return self.position_error();
132 }
133 10 static const Eigen::VectorXd& velocity_error(const TaskSE3& self) {
134 10 return self.velocity_error();
135 }
136 ✗ static const Eigen::VectorXd& position(const TaskSE3& self) {
137 ✗ return self.position();
138 }
139 ✗ static const Eigen::VectorXd& velocity(const TaskSE3& self) {
140 ✗ return self.velocity();
141 }
142 ✗ static const Eigen::VectorXd& position_ref(const TaskSE3& self) {
143 ✗ return self.position_ref();
144 }
145 ✗ static const Eigen::VectorXd& velocity_ref(const TaskSE3& self) {
146 ✗ return self.velocity_ref();
147 }
148 1 static const Eigen::VectorXd& Kp(TaskSE3& self) { return self.Kp(); }
149 1 static const Eigen::VectorXd& Kd(TaskSE3& self) { return self.Kd(); }
150 2 static void setKp(TaskSE3& self, const ::Eigen::VectorXd Kp) {
151
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 2 return self.Kp(Kp);
152 }
153 2 static void setKd(TaskSE3& self, const ::Eigen::VectorXd Kv) {
154
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 2 return self.Kd(Kv);
155 }
156 ✗ static void useLocalFrame(TaskSE3& self, const bool local_frame) {
157 ✗ self.useLocalFrame(local_frame);
158 }
159 ✗ static void getMask(TaskSE3& self) { self.getMask(); }
160 ✗ static void setMask(TaskSE3& self, const ::Eigen::VectorXd mask) {
161 ✗ self.setMask(mask);
162 }
163 static Eigen::VectorXd frame_id(TaskSE3& self) { return self.frame_id(); }
164 8 static void expose(const std::string& class_name) {
165
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 8 std::string doc = "TaskSE3 info.";
166
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 8 bp::class_<TaskSE3>(class_name.c_str(), doc.c_str(), bp::no_init)
167
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 8 .def(TaskSE3EqualityPythonVisitor<TaskSE3>());
168
169 // bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >();
170 8 }
171 };
172 } // namespace python
173 } // namespace tsid
174
175 #endif // ifndef __tsid_python_task_se3_hpp__
176