GCC Code Coverage Report

Directory: ./
File: python/math.cc
Date: 2025-06-03 17:15:40
Exec Total Coverage
Lines: 76 90 84.4%
Functions: 3 7 42.9%
Branches: 84 176 47.7%
Line Branch Exec Source
1 //
2 // Software License Agreement (BSD License)
3 //
4 // Copyright (c) 2019 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 #include <eigenpy/geometry.hpp>
37
38 #include "coal/fwd.hh"
39 #include "coal/math/transform.h"
40 #include "coal/serialization/transform.h"
41
42 #include "coal.hh"
43 #include "pickle.hh"
44 #include "serializable.hh"
45
46 #ifdef COAL_HAS_DOXYGEN_AUTODOC
47 #include "doxygen_autodoc/coal/math/transform.h"
48 #endif
49
50 using namespace boost::python;
51 using namespace coal;
52 using namespace coal::python;
53
54 namespace dv = doxygen::visitor;
55
56 template <typename Integer>
57 struct TriangleWrapper {
58 ✗ static typename TriangleTpl<Integer>::IndexType getitem(
59 const TriangleTpl<Integer>& t, int i) {
60 ✗ if (i >= 3 || i <= -3)
61 ✗ PyErr_SetString(PyExc_IndexError, "Index out of range");
62 ✗ return t[static_cast<typename coal::TriangleTpl<Integer>::IndexType>(i %
63 ✗ 3)];
64 }
65 ✗ static void setitem(TriangleTpl<Integer>& t, int i,
66 typename TriangleTpl<Integer>::IndexType v) {
67 ✗ if (i >= 3 || i <= -3)
68 ✗ PyErr_SetString(PyExc_IndexError, "Index out of range");
69 ✗ t[static_cast<typename coal::TriangleTpl<Integer>::IndexType>(i % 3)] = v;
70 ✗ }
71 };
72
73 template <typename IndexType>
74 20 void exposeTriangle(const std::string& classname) {
75 typedef TriangleTpl<IndexType> TriangleType;
76
77
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 class_<TriangleType>(classname.c_str(), no_init)
78
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<TriangleType>())
79
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(dv::init<TriangleType, typename TriangleType::IndexType,
80 typename TriangleType::IndexType,
81 20 typename TriangleType::IndexType>())
82
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("__getitem__",
83 &TriangleWrapper<typename TriangleType::IndexType>::getitem)
84
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("__setitem__",
85 &TriangleWrapper<typename TriangleType::IndexType>::setitem)
86
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def(dv::member_func("set", &TriangleType::set))
87
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def(dv::member_func("size", &TriangleType::size))
88
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .staticmethod("size")
89
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(self == self);
90 20 }
91
92 5 void exposeMaths() {
93 5 eigenpy::enableEigenPy();
94
95
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>())
96 5 eigenpy::exposeQuaternion();
97
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
98 5 eigenpy::exposeAngleAxis();
99
100 5 eigenpy::enableEigenPySpecific<Matrix3s>();
101 5 eigenpy::enableEigenPySpecific<Vec3s>();
102
103
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 10 class_<Transform3s>("Transform3s", doxygen::class_doc<Transform3s>(), no_init)
104
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s>())
105
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::init<Transform3s, const Matrix3s::MatrixBase&,
106 5 const Vec3s::MatrixBase&>())
107
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s, const Quats&, const Vec3s::MatrixBase&>())
108
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s, const Matrix3s&>())
109
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s, const Quats&>())
110
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s, const Vec3s&>())
111
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Transform3s, const Transform3s&>())
112
113
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("getQuatRotation", &Transform3s::getQuatRotation))
114 10 .def("getTranslation", &Transform3s::getTranslation,
115
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&Transform3s::getTranslation),
116 ✗ return_value_policy<copy_const_reference>())
117
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("getRotation", &Transform3s::getRotation,
118 ✗ return_value_policy<copy_const_reference>())
119
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("isIdentity", &Transform3s::isIdentity,
120 ✗ (bp::arg("self"),
121
3/6
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 5 times.
✗ Branch 9 not taken.
 10 bp::arg("prec") = Eigen::NumTraits<Scalar>::dummy_precision()),
122
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 10 doxygen::member_func_doc(&Transform3s::getTranslation))
123
124
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("setQuatRotation", &Transform3s::setQuatRotation))
125 10 .def("setTranslation", &Transform3s::setTranslation<Vec3s>)
126
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("setRotation", &Transform3s::setRotation<Matrix3s>)
127
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 5 .def(dv::member_func("setTransform",
128 &Transform3s::setTransform<Matrix3s, Vec3s>))
129
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func(
130 "setTransform",
131
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 static_cast<void (Transform3s::*)(const Quats&, const Vec3s&)>(
132 &Transform3s::setTransform)))
133
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("setIdentity", &Transform3s::setIdentity))
134
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("Identity", &Transform3s::Identity))
135
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .staticmethod("Identity")
136
137
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("setRandom", &Transform3s::setRandom))
138
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("Random", &Transform3s::Random))
139
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .staticmethod("Random")
140
141
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("transform", &Transform3s::transform<Vec3s>))
142 10 .def("inverseInPlace", &Transform3s::inverseInPlace,
143 ✗ return_internal_reference<>(),
144
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&Transform3s::inverseInPlace))
145
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("inverse", &Transform3s::inverse))
146
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("inverseTimes", &Transform3s::inverseTimes))
147
148
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self * self)
149
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self *= self)
150
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self == self)
151
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self != self)
152
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Transform3s>())
153
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Transform3s>());
154
155
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 exposeTriangle<Triangle32::IndexType>("Triangle32");
156
5/10
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
 5 bp::scope().attr("Triangle") = bp::scope().attr("Triangle32");
157
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 exposeTriangle<Triangle16::IndexType>("Triangle16");
158
159 5 if (!eigenpy::register_symbolic_link_to_registered_type<
160
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 std::vector<Vec3s> >()) {
161
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 class_<std::vector<Vec3s> >("StdVec_Vec3s")
162
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(vector_indexing_suite<std::vector<Vec3s> >());
163 }
164 5 if (!eigenpy::register_symbolic_link_to_registered_type<
165
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 std::vector<Triangle32> >()) {
166
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 class_<std::vector<Triangle32> >("StdVec_Triangle32")
167
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(vector_indexing_suite<std::vector<Triangle32> >());
168
5/10
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 5 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 5 times.
✗ Branch 14 not taken.
 5 bp::scope().attr("StdVec_Triangle") = bp::scope().attr("StdVec_Triangle32");
169 }
170 5 if (!eigenpy::register_symbolic_link_to_registered_type<
171
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 std::vector<Triangle16> >()) {
172
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 class_<std::vector<Triangle16> >("StdVec_Triangle16")
173
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(vector_indexing_suite<std::vector<Triangle16> >());
174 }
175 5 }
176