GCC Code Coverage Report


Directory: ./
File: python/coal.cc
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 29 29 100.0%
Branches: 21 46 45.7%

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1 //
2 // Software License Agreement (BSD License)
3 //
4 // Copyright (c) 2019-2022 CNRS-LAAS INRIA
5 // Author: Joseph Mirabel
6 // All rights reserved.
7 //
8 // Redistribution and use in source and binary forms, with or without
9 // modification, are permitted provided that the following conditions
10 // are met:
11 //
12 // * Redistributions of source code must retain the above copyright
13 // notice, this list of conditions and the following disclaimer.
14 // * Redistributions in binary form must reproduce the above
15 // copyright notice, this list of conditions and the following
16 // disclaimer in the documentation and/or other materials provided
17 // with the distribution.
18 // * Neither the name of CNRS-LAAS. nor the names of its
19 // contributors may be used to endorse or promote products derived
20 // from this software without specific prior written permission.
21 //
22 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 // POSSIBILITY OF SUCH DAMAGE.
34
35 #include <eigenpy/eigenpy.hpp>
36
37 #include "coal.hh"
38
39 #include "coal/fwd.hh"
40 #include "coal/shape/geometric_shapes.h"
41 #include "coal/BVH/BVH_model.h"
42
43 #include "coal/mesh_loader/loader.h"
44
45 #include "coal/collision.h"
46
47 #ifdef COAL_HAS_DOXYGEN_AUTODOC
48 #include "doxygen_autodoc/coal/mesh_loader/loader.h"
49 #endif
50
51 #include "../doc/python/doxygen.hh"
52 #include "../doc/python/doxygen-boost.hh"
53
54 using namespace coal;
55 namespace dv = doxygen::visitor;
56
57 #pragma GCC diagnostic push
58 #pragma GCC diagnostic ignored "-Wconversion"
59
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10 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads, MeshLoader::load, 1, 2)
60 #pragma GCC diagnostic pop
61
62 5 void exposeMeshLoader() {
63 using namespace boost::python;
64
65
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5 if (!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>()) {
66
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5 class_<MeshLoader, shared_ptr<MeshLoader> >(
67 "MeshLoader", doxygen::class_doc<MeshLoader>(),
68
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10 init<optional<NODE_TYPE> >(
69
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10 (arg("self"), arg("node_type")),
70 doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>()))
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5 .def("load", &MeshLoader::load,
72
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10 load_overloads((arg("self"), arg("filename"), arg("scale")),
73 doxygen::member_func_doc(&MeshLoader::load)))
74
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5 .def(dv::member_func("loadOctree", &MeshLoader::loadOctree));
75 }
76
77
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5 if (!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>()) {
78
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5 class_<CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> >(
79 "CachedMeshLoader", doxygen::class_doc<MeshLoader>(),
80
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10 init<optional<NODE_TYPE> >(
81
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10 (arg("self"), arg("node_type")),
82 doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>()));
83 }
84 5 }
85
86
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20 BOOST_PYTHON_MODULE(coal_pywrap) {
87 namespace bp = boost::python;
88
89 10 PyImport_ImportModule("warnings");
90 10 eigenpy::enableEigenPy();
91
92 10 exposeVersion();
93 10 exposeMaths();
94 10 exposeCollisionGeometries();
95 10 exposeCollisionObject();
96 10 exposeMeshLoader();
97 10 exposeCollisionAPI();
98 10 exposeContactPatchAPI();
99 10 exposeDistanceAPI();
100 10 exposeGJK();
101 #ifdef COAL_HAS_OCTOMAP
102 10 exposeOctree();
103 #endif
104 10 exposeBroadPhase();
105 10 }
106