| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2019, LAAS CNRS | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** \author Joseph Mirabel */ | ||
| 36 | |||
| 37 | #ifndef COAL_TRAVERSAL_DETAILS_TRAVERSAL_H | ||
| 38 | #define COAL_TRAVERSAL_DETAILS_TRAVERSAL_H | ||
| 39 | |||
| 40 | /// @cond INTERNAL | ||
| 41 | |||
| 42 | namespace coal { | ||
| 43 | |||
| 44 | enum { RelativeTransformationIsIdentity = 1 }; | ||
| 45 | |||
| 46 | namespace details { | ||
| 47 | template <bool enabled> | ||
| 48 | struct COAL_DLLAPI RelativeTransformation { | ||
| 49 |
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17855 | RelativeTransformation() : R(Matrix3s::Identity()) {} |
| 50 | |||
| 51 | 1994754 | const Matrix3s& _R() const { return R; } | |
| 52 | 1994754 | const Vec3s& _T() const { return T; } | |
| 53 | |||
| 54 | Matrix3s R; | ||
| 55 | Vec3s T; | ||
| 56 | }; | ||
| 57 | |||
| 58 | template <> | ||
| 59 | struct COAL_DLLAPI RelativeTransformation<false> { | ||
| 60 | static const Matrix3s& _R() { | ||
| 61 | COAL_THROW_PRETTY("should never reach this point", std::logic_error); | ||
| 62 | } | ||
| 63 | static const Vec3s& _T() { | ||
| 64 | COAL_THROW_PRETTY("should never reach this point", std::logic_error); | ||
| 65 | } | ||
| 66 | }; | ||
| 67 | } // namespace details | ||
| 68 | |||
| 69 | } // namespace coal | ||
| 70 | |||
| 71 | /// @endcond | ||
| 72 | |||
| 73 | #endif | ||
| 74 |