GCC Code Coverage Report

Directory: ./
File: python/math.cc
Date: 2025-05-02 10:16:21
Exec Total Coverage
Lines: 76 89 85.4%
Branches: 77 162 47.5%
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 20 class_<TriangleType>(classname.c_str(), no_init)
78
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 20 .def(dv::init<TriangleType, typename TriangleType::IndexType,
80 typename TriangleType::IndexType,
81 20 typename TriangleType::IndexType>())
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 20 .def("__getitem__",
83 &TriangleWrapper<typename TriangleType::IndexType>::getitem)
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 20 .def("__setitem__",
85 &TriangleWrapper<typename TriangleType::IndexType>::setitem)
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 20 .def(dv::member_func("set", &TriangleType::set))
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 20 .def(dv::member_func("size", &TriangleType::size))
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 20 .staticmethod("size")
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 20 .def(self == self);
90 20 }
91
92 5 void exposeMaths() {
93 5 eigenpy::enableEigenPy();
94
95
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>())
96 5 eigenpy::exposeQuaternion();
97
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 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 5 class_<Transform3s>("Transform3s", doxygen::class_doc<Transform3s>(), no_init)
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 5 .def(dv::init<Transform3s, const Matrix3s::MatrixBase&,
106 5 const Vec3s::MatrixBase&>())
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 5 .def(dv::member_func("getQuatRotation", &Transform3s::getQuatRotation))
114 10 .def("getTranslation", &Transform3s::getTranslation,
115
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 5 doxygen::member_func_doc(&Transform3s::getTranslation),
116 ✗ return_value_policy<copy_const_reference>())
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 5 .def("getRotation", &Transform3s::getRotation,
118 ✗ return_value_policy<copy_const_reference>())
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 5 .def("isIdentity", &Transform3s::isIdentity,
120 ✗ (bp::arg("self"),
121
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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))
125 10 .def("setTranslation", &Transform3s::setTranslation<Vec3s>)
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 5 .def(dv::member_func("setTransform",
128 &Transform3s::setTransform<Matrix3s, Vec3s>))
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130 "setTransform",
131
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 5 static_cast<void (Transform3s::*)(const Quats&, const Vec3s&)>(
132 &Transform3s::setTransform)))
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 5 .def(dv::member_func("setIdentity", &Transform3s::setIdentity))
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 5 .def(dv::member_func("Identity", &Transform3s::Identity))
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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>))
142 10 .def("inverseInPlace", &Transform3s::inverseInPlace,
143 ✗ return_internal_reference<>(),
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 5 doxygen::member_func_doc(&Transform3s::inverseInPlace))
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 5 .def(dv::member_func("inverse", &Transform3s::inverse))
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 5 .def(dv::member_func("inverseTimes", &Transform3s::inverseTimes))
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 5 .def(self * self)
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 5 .def(SerializableVisitor<Transform3s>());
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 5 exposeTriangle<Triangle32::IndexType>("Triangle32");
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 5 bp::scope().attr("Triangle") = bp::scope().attr("Triangle32");
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 5 exposeTriangle<Triangle16::IndexType>("Triangle16");
158
159 5 if (!eigenpy::register_symbolic_link_to_registered_type<
160
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 5 std::vector<Vec3s> >()) {
161 10 class_<std::vector<Vec3s> >("StdVec_Vec3s")
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 5 .def(vector_indexing_suite<std::vector<Vec3s> >());
163 }
164 5 if (!eigenpy::register_symbolic_link_to_registered_type<
165
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 5 std::vector<Triangle32> >()) {
166 5 class_<std::vector<Triangle32> >("StdVec_Triangle32")
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 5 bp::scope().attr("StdVec_Triangle") = bp::scope().attr("StdVec_Triangle32");
169 }
170 5 if (!eigenpy::register_symbolic_link_to_registered_type<
171
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 5 std::vector<Triangle16> >()) {
172 10 class_<std::vector<Triangle16> >("StdVec_Triangle16")
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 5 .def(vector_indexing_suite<std::vector<Triangle16> >());
174 }
175 5 }
176