GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/tasks/task-two-frames-equality.hpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 34 65 52.3%
Branches: 38 112 33.9%
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1 //
2 // Copyright (c) 2023 MIPT
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_frames_hpp__
19 #define __tsid_python_task_frames_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/tasks/task-two-frames-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 TaskFrames>
33 struct TaskTwoFramesEqualityPythonVisitor
34 : public boost::python::def_visitor<
35 TaskTwoFramesEqualityPythonVisitor<TaskFrames> > {
36 template <class PyClass>
37
38 8 void visit(PyClass& cl) const {
39
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 24 cl.def(bp::init<std::string, robots::RobotWrapper&, std::string,
40
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 16 std::string>((bp::arg("name"), bp::arg("robot"),
41
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 24 bp::arg("framename1"), bp::arg("framename2")),
42 "Default Constructor"))
43 16 .add_property("dim", &TaskFrames::dim, "return dimension size")
44
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 8 .add_property(
45 "getDesiredAcceleration",
46 bp::make_function(
47 &TaskTwoFramesEqualityPythonVisitor::getDesiredAcceleration,
48 8 bp::return_value_policy<bp::copy_const_reference>()),
49 "Return Acc_desired")
50
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 8 .def("getAcceleration",
51 &TaskTwoFramesEqualityPythonVisitor::getAcceleration,
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 16 bp::arg("dv"))
53
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 8 .add_property("position_error",
54 bp::make_function(
55 &TaskTwoFramesEqualityPythonVisitor::position_error,
56 8 bp::return_value_policy<bp::copy_const_reference>()))
57
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 8 .add_property("velocity_error",
58 bp::make_function(
59 &TaskTwoFramesEqualityPythonVisitor::velocity_error,
60 8 bp::return_value_policy<bp::copy_const_reference>()))
61
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 8 .add_property("Kp",
62 bp::make_function(
63 &TaskTwoFramesEqualityPythonVisitor::Kp,
64 8 bp::return_value_policy<bp::copy_const_reference>()))
65
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 8 .add_property("Kd",
66 bp::make_function(
67 &TaskTwoFramesEqualityPythonVisitor::Kd,
68 8 bp::return_value_policy<bp::copy_const_reference>()))
69
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 16 .def("setKp", &TaskTwoFramesEqualityPythonVisitor::setKp, bp::arg("Kp"))
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 16 .def("setKd", &TaskTwoFramesEqualityPythonVisitor::setKd, bp::arg("Kd"))
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 8 .add_property("mask",
72 bp::make_function(
73 &TaskTwoFramesEqualityPythonVisitor::getMask,
74 8 bp::return_value_policy<bp::copy_const_reference>()),
75 "Return mask")
76
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 8 .def("setMask", &TaskTwoFramesEqualityPythonVisitor::setMask,
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 16 bp::arg("mask"))
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 16 .def("compute", &TaskTwoFramesEqualityPythonVisitor::compute,
79 bp::args("t", "q", "v", "data"))
80
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 8 .def("getConstraint",
81 &TaskTwoFramesEqualityPythonVisitor::getConstraint)
82 16 .add_property("frame_id1", &TaskFrames::frame_id1, "frame id 1 return")
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 8 .add_property("frame_id2", &TaskFrames::frame_id2, "frame id 2 return")
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 8 .add_property("name", &TaskTwoFramesEqualityPythonVisitor::name);
85 8 }
86 ✗ static std::string name(TaskFrames& self) {
87 ✗ std::string name = self.name();
88 ✗ return name;
89 }
90 ✗ static math::ConstraintEquality compute(TaskFrames& self, const double t,
91 const Eigen::VectorXd& q,
92 const Eigen::VectorXd& v,
93 pinocchio::Data& data) {
94 ✗ self.compute(t, q, v, data);
95 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
96 ✗ self.getConstraint().matrix(),
97 ✗ self.getConstraint().vector());
98 ✗ return cons;
99 }
100 ✗ static math::ConstraintEquality getConstraint(const TaskFrames& self) {
101 ✗ math::ConstraintEquality cons(self.getConstraint().name(),
102 ✗ self.getConstraint().matrix(),
103 ✗ self.getConstraint().vector());
104 ✗ return cons;
105 }
106 ✗ static const Eigen::VectorXd& getDesiredAcceleration(const TaskFrames& self) {
107 ✗ return self.getDesiredAcceleration();
108 }
109 ✗ static Eigen::VectorXd getAcceleration(TaskFrames& self,
110 const Eigen::VectorXd dv) {
111 ✗ return self.getAcceleration(dv);
112 }
113 ✗ static const Eigen::VectorXd& position_error(const TaskFrames& self) {
114 ✗ return self.position_error();
115 }
116 ✗ static const Eigen::VectorXd& velocity_error(const TaskFrames& self) {
117 ✗ return self.velocity_error();
118 }
119 ✗ static const Eigen::VectorXd& Kp(TaskFrames& self) { return self.Kp(); }
120 ✗ static const Eigen::VectorXd& Kd(TaskFrames& self) { return self.Kd(); }
121 ✗ static void setKp(TaskFrames& self, const ::Eigen::VectorXd Kp) {
122 ✗ return self.Kp(Kp);
123 }
124 ✗ static void setKd(TaskFrames& self, const ::Eigen::VectorXd Kv) {
125 ✗ return self.Kd(Kv);
126 }
127 ✗ static void getMask(TaskFrames& self) { self.getMask(); }
128 ✗ static void setMask(TaskFrames& self, const ::Eigen::VectorXd mask) {
129 ✗ self.setMask(mask);
130 }
131 static Eigen::VectorXd frame_id1(TaskFrames& self) {
132 return self.frame_id1();
133 }
134 static Eigen::VectorXd frame_id2(TaskFrames& self) {
135 return self.frame_id2();
136 }
137
138 8 static void expose(const std::string& class_name) {
139
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 8 std::string doc = "TaskFrames info.";
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 8 bp::class_<TaskFrames>(class_name.c_str(), doc.c_str(), bp::no_init)
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 8 .def(TaskTwoFramesEqualityPythonVisitor<TaskFrames>());
142
143 // bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >();
144 8 }
145 };
146 } // namespace python
147 } // namespace tsid
148
149 #endif // ifndef __tsid_python_task_frames_hpp__
150