GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/trajectories/trajectory-base.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 51 58 87.9%
Branches: 45 94 47.9%
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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_traj_sample_hpp__
19 #define __tsid_python_traj_sample_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include <tsid/math/utils.hpp>
24 #include "tsid/trajectories/trajectory-base.hpp"
25
26 #include <pinocchio/bindings/python/utils/deprecation.hpp>
27 #include <assert.h>
28 namespace tsid {
29 namespace python {
30 namespace bp = boost::python;
31 typedef pinocchio::SE3 SE3;
32
33 template <typename TrajSample>
34 struct TrajectorySamplePythonVisitor
35 : public boost::python::def_visitor<
36 TrajectorySamplePythonVisitor<TrajSample> > {
37 template <class PyClass>
38
39 7 void visit(PyClass& cl) const {
40
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 7 cl.def(bp::init<unsigned int>((bp::arg("size")),
41 "Default Constructor with size"))
42
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 7 .def(bp::init<unsigned int, unsigned int>(
43
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 14 (bp::arg("value_size"), bp::arg("derivative_size")),
44 "Default Constructor with value and derivative size"))
45
46
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 14 .def("resize", &TrajectorySamplePythonVisitor::resize, bp::arg("size"))
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 14 .def("resize", &TrajectorySamplePythonVisitor::resize2,
48 bp::args("value_size", "derivative_size"))
49
50
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 7 .def("value", &TrajectorySamplePythonVisitor::value)
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53 &TrajectorySamplePythonVisitor::second_derivative)
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59 &TrajectorySamplePythonVisitor::setsecond_derivative)
60
61 // Deprecated methods:
62
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 7 .def("pos", &TrajectorySamplePythonVisitor::value,
63
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64 "This method is now deprecated. Please use .value"))
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67 "This method is now deprecated. Please use .derivative"))
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 7 .def(
69 "acc", &TrajectorySamplePythonVisitor::second_derivative,
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71 "This method is now deprecated. Please use .second_derivative"))
72
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75 "This method is now deprecated. Please use .value"))
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78 "This method is now deprecated. Please use .value"))
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81 "This method is now deprecated. Please use .derivative"))
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 14 pinocchio::python::deprecated_function<>(
84 "This method is now deprecated. Please use "
85 ".second_derivative"));
86 7 }
87
88 2 static void setvalue_vec(TrajSample& self, const Eigen::VectorXd value) {
89
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 2 assert(self.getValue().size() == value.size());
90 2 self.setValue(value);
91 2 }
92 ✗ static void setvalue_se3(TrajSample& self, const pinocchio::SE3& value) {
93 ✗ assert(self.getValue().size() == 12);
94 TSID_DISABLE_WARNING_PUSH
95 TSID_DISABLE_WARNING_DEPRECATED
96 ✗ tsid::math::SE3ToVector(value, self.pos);
97 TSID_DISABLE_WARNING_POP
98 }
99 1 static void setderivative(TrajSample& self,
100 const Eigen::VectorXd derivative) {
101
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 1 assert(self.getDerivative().size() == derivative.size());
102 1 self.setDerivative(derivative);
103 1 }
104 1 static void setsecond_derivative(TrajSample& self,
105 const Eigen::VectorXd second_derivative) {
106
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 1 assert(self.getSecondDerivative().size() == second_derivative.size());
107 1 self.setSecondDerivative(second_derivative);
108 1 }
109 ✗ static void resize(TrajSample& self, const unsigned int& size) {
110 ✗ self.resize(size, size);
111 }
112 ✗ static void resize2(TrajSample& self, const unsigned int& value_size,
113 const unsigned int& derivative_size) {
114 ✗ self.resize(value_size, derivative_size);
115 }
116 7 static Eigen::VectorXd value(const TrajSample& self) {
117 7 return self.getValue();
118 }
119 3 static Eigen::VectorXd derivative(const TrajSample& self) {
120 3 return self.getDerivative();
121 }
122 3 static Eigen::VectorXd second_derivative(const TrajSample& self) {
123 3 return self.getSecondDerivative();
124 }
125
126 7 static void expose(const std::string& class_name) {
127
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 7 std::string doc = "Trajectory Sample info.";
128
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 7 bp::class_<TrajSample>(class_name.c_str(), doc.c_str(), bp::no_init)
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 7 .def(TrajectorySamplePythonVisitor<TrajSample>());
130 7 }
131 };
132 } // namespace python
133 } // namespace tsid
134
135 #endif // ifndef __tsid_python_traj_euclidian_hpp__
136