GCC Code Coverage Report


Directory: ./
File: include/coal/internal/traversal.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 3 3 100.0%
Branches: 1 2 50.0%

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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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17860 RelativeTransformation() : R(Matrix3s::Identity()) {}
50
51 2004523 const Matrix3s& _R() const { return R; }
52 2004523 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