GCC Code Coverage Report

Directory: ./
File: tests/convex-shape-contact-function.hh
Date: 2025-05-05 12:19:30
Exec Total Coverage
Lines: 72 72 100.0%
Branches: 67 134 50.0%
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1 // Copyright (c) 2014, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #include <hpp/constraints/convex-shape-contact.hh>
30
31 2 hpp::constraints::ConvexShapeContactPtr_t createConvexShapeContact_punctual(
32 hpp::pinocchio::DevicePtr_t d, hpp::pinocchio::JointPtr_t j,
33 std::string name) {
34 using namespace hpp::constraints;
35 /** Floor = penta + square
36 * +
37 * / \
38 * / +-----+
39 * + | |
40 * \ +-----+
41 * \ /
42 * +
43 *
44 * Object = point
45 **/
46
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 2 std::vector<vector3_t> square(4);
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 2 square[0] = vector3_t(5, 5, 0);
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 2 square[1] = vector3_t(5, -5, 0);
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 2 square[2] = vector3_t(0, -5, 0);
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 2 square[3] = vector3_t(0, 5, 0);
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 2 std::vector<vector3_t> penta(5);
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 2 penta[0] = vector3_t(0, 5, 0);
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 2 penta[1] = vector3_t(0, -5, 0);
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 2 penta[2] = vector3_t(-2, -6, 0);
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 2 penta[3] = vector3_t(-5, 0, 0);
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 2 penta[4] = vector3_t(-2, 6, 0);
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 2 std::vector<vector3_t> point(1, vector3_t(0, 0, 0));
60
61 2 JointAndShapes_t os;
62
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 2 os.push_back(JointAndShape_t(j, point));
63 2 JointAndShapes_t fs;
64
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), square));
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), penta));
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 2 ConvexShapeContactPtr_t fptr = ConvexShapeContact::create(name, d, fs, os);
67 4 return fptr;
68 2 }
69
70 2 hpp::constraints::ConvexShapeContactPtr_t createConvexShapeContact_convex(
71 hpp::pinocchio::DevicePtr_t d, hpp::pinocchio::JointPtr_t j,
72 std::string name) {
73 using namespace hpp::constraints;
74 /** Floor = penta + square
75 * +
76 * / \
77 * / +-----+
78 * + | |
79 * \ +-----+
80 * \ /
81 * +
82 *
83 * Object = trapezium
84 * +--+
85 * | \
86 * +----+
87 **/
88
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 2 std::vector<vector3_t> square(4);
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 2 square[0] = vector3_t(5, 5, 0);
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 2 square[1] = vector3_t(5, -5, 0);
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 2 square[2] = vector3_t(0, -5, 0);
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 2 square[3] = vector3_t(0, 5, 0);
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 2 std::vector<vector3_t> penta(5);
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 2 penta[0] = vector3_t(0, 5, 0);
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 2 penta[1] = vector3_t(0, -5, 0);
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 2 penta[2] = vector3_t(-2, -6, 0);
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 2 penta[3] = vector3_t(-5, 0, 0);
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 2 penta[4] = vector3_t(-2, 6, 0);
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 2 std::vector<vector3_t> trapeze(4);
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 2 trapeze[0] = vector3_t(-0.1, 0.1, 0);
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 2 trapeze[1] = vector3_t(0.1, 0.1, 0);
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 2 trapeze[2] = vector3_t(0.2, -0.1, 0);
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 2 trapeze[3] = vector3_t(-0.1, -0.1, 0);
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 2 ConvexShape tCs(trapeze, j);
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108 2 JointAndShapes_t os;
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 2 os.push_back(JointAndShape_t(j, trapeze));
110 2 JointAndShapes_t fs;
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), square));
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), penta));
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 2 ConvexShapeContactPtr_t fptr = ConvexShapeContact::create(name, d, fs, os);
114 4 return fptr;
115 2 }
116
117 2 hpp::constraints::ConvexShapeContactPtr_t createConvexShapeContact_triangles(
118 hpp::pinocchio::DevicePtr_t d, hpp::pinocchio::JointPtr_t j,
119 std::string name) {
120 using namespace hpp::constraints;
121 /** Floor = penta + square
122 * +
123 * / \
124 * / +-----+
125 * + | |
126 * \ +-----+
127 * \ /
128 * +
129 *
130 * Object = point
131 * +--+
132 * | \
133 * +----+
134 **/
135
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 2 std::vector<vector3_t> square(4);
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 2 square[0] = vector3_t(5, 5, 0);
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 2 square[1] = vector3_t(5, -5, 0);
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 2 square[2] = vector3_t(0, -5, 0);
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 2 square[3] = vector3_t(0, 5, 0);
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 2 std::vector<vector3_t> penta(5);
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 2 penta[0] = vector3_t(0, 5, 0);
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 2 penta[1] = vector3_t(0, -5, 0);
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 2 penta[2] = vector3_t(-2, -6, 0);
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 2 penta[3] = vector3_t(-5, 0, 0);
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 2 penta[4] = vector3_t(-2, 6, 0);
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 2 std::vector<vector3_t> trapeze(4);
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 2 trapeze[0] = vector3_t(-0.1, 0.1, 0);
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 2 trapeze[1] = vector3_t(0.1, 0.1, 0);
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 2 trapeze[2] = vector3_t(0.2, -0.1, 0);
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 2 trapeze[3] = vector3_t(-0.1, -0.1, 0);
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154 2 JointAndShapes_t os;
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 2 os.push_back(JointAndShape_t(j, trapeze));
156 2 JointAndShapes_t fs;
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), square));
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 2 fs.push_back(JointAndShape_t(JointPtr_t(), penta));
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 2 ConvexShapeContactPtr_t fptr = ConvexShapeContact::create(name, d, fs, os);
160 4 return fptr;
161 2 }
162