GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/trajectories/trajectory-euclidian.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 28 30 93.3%
Branches: 19 40 47.5%
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_traj_euclidian_hpp__
19 #define __tsid_python_traj_euclidian_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/trajectories/trajectory-euclidian.hpp"
24 namespace tsid {
25 namespace python {
26 namespace bp = boost::python;
27
28 template <typename Traj>
29 struct TrajectoryEuclidianConstantPythonVisitor
30 : public boost::python::def_visitor<
31 TrajectoryEuclidianConstantPythonVisitor<Traj> > {
32 template <class PyClass>
33
34 7 void visit(PyClass& cl) const {
35
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 7 cl.def(bp::init<std::string>((bp::arg("name")),
36 "Default Constructor with name"))
37
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 7 .def(bp::init<std::string, Eigen::VectorXd>(
38
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 14 (bp::arg("name"), bp::arg("reference")),
39 "Default Constructor with name and ref_vec"))
40
41 14 .add_property("size", &Traj::size)
42
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 14 .def("setReference",
43 &TrajectoryEuclidianConstantPythonVisitor::setReference,
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 14 bp::arg("ref_vec"))
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 7 .def("computeNext",
46 &TrajectoryEuclidianConstantPythonVisitor::computeNext)
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 7 .def("getLastSample",
48 &TrajectoryEuclidianConstantPythonVisitor::getLastSample,
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 14 bp::arg("sample"))
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 7 .def("has_trajectory_ended",
51 &TrajectoryEuclidianConstantPythonVisitor::has_trajectory_ended)
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 7 .def("getSample", &TrajectoryEuclidianConstantPythonVisitor::getSample,
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 14 bp::arg("time"));
54 7 }
55 ✗ static void setReference(Traj& self, const Eigen::VectorXd& ref) {
56 ✗ self.setReference(ref);
57 }
58 5004 static trajectories::TrajectorySample computeNext(Traj& self) {
59 5004 return self.computeNext();
60 }
61 1 static void getLastSample(const Traj& self,
62 trajectories::TrajectorySample& sample) {
63 1 self.getLastSample(sample);
64 1 }
65 1 static bool has_trajectory_ended(const Traj& self) {
66 1 return self.has_trajectory_ended();
67 }
68 1 static trajectories::TrajectorySample getSample(Traj& self, double time) {
69 1 return self.operator()(time);
70 }
71
72 7 static void expose(const std::string& class_name) {
73
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 7 std::string doc = "Trajectory Euclidian Constant info.";
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 7 bp::class_<Traj>(class_name.c_str(), doc.c_str(), bp::no_init)
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 7 .def(TrajectoryEuclidianConstantPythonVisitor<Traj>());
76 7 }
77 };
78 } // namespace python
79 } // namespace tsid
80
81 #endif // ifndef __tsid_python_traj_euclidian_hpp__
82