GCC Code Coverage Report


Directory: ./
File: include/tsid/bindings/python/trajectories/trajectory-se3.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 31 31 100.0%
Branches: 19 38 50.0%

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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_se3_hpp__
19 #define __tsid_python_traj_se3_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/trajectories/trajectory-se3.hpp"
24 namespace tsid {
25 namespace python {
26 namespace bp = boost::python;
27
28 template <typename TrajSE3>
29 struct TrajectorySE3ConstantPythonVisitor
30 : public boost::python::def_visitor<
31 TrajectorySE3ConstantPythonVisitor<TrajSE3> > {
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, pinocchio::SE3>(
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", &TrajSE3::size)
42
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14 .def("setReference", &TrajectorySE3ConstantPythonVisitor::setReference,
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14 bp::arg("M_ref"))
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7 .def("computeNext", &TrajectorySE3ConstantPythonVisitor::computeNext)
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7 .def("getLastSample",
46 &TrajectorySE3ConstantPythonVisitor::getLastSample,
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14 bp::arg("sample"))
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7 .def("has_trajectory_ended",
49 &TrajectorySE3ConstantPythonVisitor::has_trajectory_ended)
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7 .def("getSample", &TrajectorySE3ConstantPythonVisitor::getSample,
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14 bp::arg("time"));
52 7 }
53 1 static void setReference(TrajSE3& self, const pinocchio::SE3& ref) {
54 1 self.setReference(ref);
55 1 }
56 1001 static trajectories::TrajectorySample computeNext(TrajSE3& self) {
57 1001 return self.computeNext();
58 }
59 1 static void getLastSample(const TrajSE3& self,
60 trajectories::TrajectorySample& sample) {
61 1 self.getLastSample(sample);
62 1 }
63 1 static bool has_trajectory_ended(const TrajSE3& self) {
64 1 return self.has_trajectory_ended();
65 }
66 1 static trajectories::TrajectorySample getSample(TrajSE3& self, double time) {
67 1 return self.operator()(time);
68 }
69
70 7 static void expose(const std::string& class_name) {
71
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7 std::string doc = "Trajectory SE3 Constant info.";
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7 bp::class_<TrajSE3>(class_name.c_str(), doc.c_str(), bp::no_init)
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7 .def(TrajectorySE3ConstantPythonVisitor<TrajSE3>());
74 7 }
75 };
76 } // namespace python
77 } // namespace tsid
78
79 #endif // ifndef __tsid_python_traj_se3_hpp__
80