GCC Code Coverage Report

Directory: ./
File: src/mesh_loader/loader.cpp
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 43 51 84.3%
Branches: 27 87 31.0%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * Copyright (c) 2016, CNRS - LAAS
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Open Source Robotics Foundation nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 */
36
37 #include "coal/mesh_loader/loader.h"
38 #include "coal/mesh_loader/assimp.h"
39
40 #include <boost/filesystem.hpp>
41
42 #ifdef COAL_HAS_OCTOMAP
43 #include "coal/octree.h"
44 #endif
45
46 #include "coal/BV/BV.h"
47
48 namespace coal {
49 16 bool CachedMeshLoader::Key::operator<(const CachedMeshLoader::Key& b) const {
50 16 const CachedMeshLoader::Key& a = *this;
51
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 64 for (int i = 0; i < 3; ++i) {
52
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 48 if (a.scale[i] < b.scale[i])
53 ✗ return true;
54
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 48 else if (a.scale[i] > b.scale[i])
55 ✗ return false;
56 }
57 16 return std::less<std::string>()(a.filename, b.filename);
58 }
59
60 template <typename BV>
61 18 BVHModelPtr_t _load(const std::string& filename, const Vec3s& scale) {
62
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 18 shared_ptr<BVHModel<BV> > polyhedron(new BVHModel<BV>);
63
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 18 loadPolyhedronFromResource(filename, scale, polyhedron);
64 36 return polyhedron;
65 18 }
66
67 9 BVHModelPtr_t MeshLoader::load(const std::string& filename,
68 const Vec3s& scale) {
69
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 9 switch (bvType_) {
70 1 case BV_AABB:
71 1 return _load<AABB>(filename, scale);
72 1 case BV_OBB:
73 1 return _load<OBB>(filename, scale);
74 1 case BV_RSS:
75 1 return _load<RSS>(filename, scale);
76 1 case BV_kIOS:
77 1 return _load<kIOS>(filename, scale);
78 2 case BV_OBBRSS:
79 2 return _load<OBBRSS>(filename, scale);
80 1 case BV_KDOP16:
81 1 return _load<KDOP<16> >(filename, scale);
82 1 case BV_KDOP18:
83 1 return _load<KDOP<18> >(filename, scale);
84 1 case BV_KDOP24:
85 1 return _load<KDOP<24> >(filename, scale);
86 ✗ default:
87 ✗ COAL_THROW_PRETTY("Unhandled bouding volume type.",
88 std::invalid_argument);
89 }
90 }
91
92 ✗ CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) {
93 #ifdef COAL_HAS_OCTOMAP
94 ✗ shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename));
95 ✗ return CollisionGeometryPtr_t(new coal::OcTree(octree));
96 #else
97 COAL_THROW_PRETTY("Coal compiled without OctoMap. Cannot create OcTrees.",
98 std::logic_error);
99 #endif
100 }
101
102 16 BVHModelPtr_t CachedMeshLoader::load(const std::string& filename,
103 const Vec3s& scale) {
104
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 16 Key key(filename, scale);
105
106 16 std::time_t mtime = 0;
107 try {
108
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 16 mtime = boost::filesystem::last_write_time(filename);
109
110
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 16 Cache_t::const_iterator _cached = cache_.find(key);
111
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 16 if (_cached != cache_.end() && _cached->second.mtime == mtime)
112 // File found in cache and mtime is the same
113 8 return _cached->second.model;
114 ✗ } catch (boost::filesystem::filesystem_error&) {
115 // Could not stat. Make sure we will try to load the file so that
116 // there will be a file not found error.
117 }
118
119
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 8 BVHModelPtr_t geom = MeshLoader::load(filename, scale);
120 8 Value val;
121 8 val.model = geom;
122 8 val.mtime = mtime;
123
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 8 cache_[key] = val;
124 8 return geom;
125 16 }
126 } // namespace coal
127