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File: | src/tools.cc |
Date: | 2024-12-13 15:50:05 |
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1 | // Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. | ||
2 | // | ||
3 | |||
4 | // Redistribution and use in source and binary forms, with or without | ||
5 | // modification, are permitted provided that the following conditions are | ||
6 | // met: | ||
7 | // | ||
8 | // 1. Redistributions of source code must retain the above copyright | ||
9 | // notice, this list of conditions and the following disclaimer. | ||
10 | // | ||
11 | // 2. Redistributions in binary form must reproduce the above copyright | ||
12 | // notice, this list of conditions and the following disclaimer in the | ||
13 | // documentation and/or other materials provided with the distribution. | ||
14 | // | ||
15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
16 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
17 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
18 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
21 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
22 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
23 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
25 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
26 | // DAMAGE. | ||
27 | // | ||
28 | // This software is provided "as is" without warranty of any kind, | ||
29 | // either expressed or implied, including but not limited to the | ||
30 | // implied warranties of fitness for a particular purpose. | ||
31 | // | ||
32 | // See the COPYING file for more information. | ||
33 | |||
34 | #include "tools.hh" | ||
35 | |||
36 | #include <pinocchio/spatial/se3.hpp> | ||
37 | |||
38 | 71 | hpp::corbaServer::DevicePtr_t getRobotOrThrow(hpp::core::ProblemSolverPtr_t p) { | |
39 | 71 | hpp::corbaServer::DevicePtr_t robot = p->robot(); | |
40 |
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71 | if (!robot) throw hpp::Error("No robot in problem solver."); |
41 | 71 | return robot; | |
42 | } | ||
43 |