GCC Code Coverage Report

Directory: ./
File: python/math.cc
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 66 78 84.6%
Branches: 63 134 47.0%
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 struct TriangleWrapper {
57 ✗ static Triangle::index_type getitem(const Triangle& t, int i) {
58 ✗ if (i >= 3 || i <= -3)
59 ✗ PyErr_SetString(PyExc_IndexError, "Index out of range");
60 ✗ return t[static_cast<coal::Triangle::index_type>(i % 3)];
61 }
62 ✗ static void setitem(Triangle& t, int i, Triangle::index_type v) {
63 ✗ if (i >= 3 || i <= -3)
64 ✗ PyErr_SetString(PyExc_IndexError, "Index out of range");
65 ✗ t[static_cast<coal::Triangle::index_type>(i % 3)] = v;
66 }
67 };
68
69 5 void exposeMaths() {
70 5 eigenpy::enableEigenPy();
71
72
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>())
73 5 eigenpy::exposeQuaternion();
74
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
75 5 eigenpy::exposeAngleAxis();
76
77 5 eigenpy::enableEigenPySpecific<Matrix3s>();
78 5 eigenpy::enableEigenPySpecific<Vec3s>();
79
80 5 class_<Transform3s>("Transform3s", doxygen::class_doc<Transform3s>(), no_init)
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 5 .def(dv::init<Transform3s>())
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 5 .def(dv::init<Transform3s, const Matrix3s::MatrixBase&,
83 5 const Vec3s::MatrixBase&>())
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 5 .def(dv::init<Transform3s, const Quats&, const Vec3s::MatrixBase&>())
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 5 .def(dv::member_func("getQuatRotation", &Transform3s::getQuatRotation))
91 10 .def("getTranslation", &Transform3s::getTranslation,
92
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 5 doxygen::member_func_doc(&Transform3s::getTranslation),
93 ✗ return_value_policy<copy_const_reference>())
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 5 .def("getRotation", &Transform3s::getRotation,
95 ✗ return_value_policy<copy_const_reference>())
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 5 .def("isIdentity", &Transform3s::isIdentity,
97 ✗ (bp::arg("self"),
98
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 10 bp::arg("prec") = Eigen::NumTraits<Scalar>::dummy_precision()),
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 10 doxygen::member_func_doc(&Transform3s::getTranslation))
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 5 .def(dv::member_func("setQuatRotation", &Transform3s::setQuatRotation))
102 10 .def("setTranslation", &Transform3s::setTranslation<Vec3s>)
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 5 .def(dv::member_func("setTransform",
105 &Transform3s::setTransform<Matrix3s, Vec3s>))
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107 "setTransform",
108
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 5 static_cast<void (Transform3s::*)(const Quats&, const Vec3s&)>(
109 &Transform3s::setTransform)))
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 5 .def(dv::member_func("setIdentity", &Transform3s::setIdentity))
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 5 .staticmethod("Identity")
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 5 .def(dv::member_func("setRandom", &Transform3s::setRandom))
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 5 .def(dv::member_func("transform", &Transform3s::transform<Vec3s>))
119 10 .def("inverseInPlace", &Transform3s::inverseInPlace,
120 ✗ return_internal_reference<>(),
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 5 doxygen::member_func_doc(&Transform3s::inverseInPlace))
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 5 .def(dv::member_func("inverseTimes", &Transform3s::inverseTimes))
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 5 .def(SerializableVisitor<Transform3s>());
131
132 5 class_<Triangle>("Triangle", no_init)
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135 5 Triangle::index_type>())
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 5 .def(dv::member_func("set", &Triangle::set))
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 5 .staticmethod("size")
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 5 .def(self == self);
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143 5 if (!eigenpy::register_symbolic_link_to_registered_type<
144
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 5 std::vector<Vec3s> >()) {
145 10 class_<std::vector<Vec3s> >("StdVec_Vec3s")
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 5 .def(vector_indexing_suite<std::vector<Vec3s> >());
147 }
148 5 if (!eigenpy::register_symbolic_link_to_registered_type<
149
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 5 std::vector<Triangle> >()) {
150 10 class_<std::vector<Triangle> >("StdVec_Triangle")
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152 }
153 5 }
154