GCC Code Coverage Report


Directory: ./
File: include/hpp/core/steering-method/car-like.hh
Date: 2024-12-13 16:14:03
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1 //
2 // Copyright (c) 2017 CNRS
3 // Authors: Florent Lamiraux
4 //
5
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are
8 // met:
9 //
10 // 1. Redistributions of source code must retain the above copyright
11 // notice, this list of conditions and the following disclaimer.
12 //
13 // 2. Redistributions in binary form must reproduce the above copyright
14 // notice, this list of conditions and the following disclaimer in the
15 // documentation and/or other materials provided with the distribution.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28 // DAMAGE.
29
30 #ifndef HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
31 #define HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
32
33 #include <hpp/core/config.hh>
34 #include <hpp/core/fwd.hh>
35 #include <hpp/core/steering-method.hh>
36 #include <hpp/core/steering-method/fwd.hh>
37 #include <hpp/util/debug.hh>
38 #include <hpp/util/pointer.hh>
39
40 namespace hpp {
41 namespace core {
42 namespace steeringMethod {
43 /// \addtogroup steering_method
44 /// \{
45
46 /// Abstract class that implements various type of trajectories for
47 /// carlike vehicles
48 ///
49 class HPP_CORE_DLLAPI CarLike : public SteeringMethod {
50 public:
51 4 virtual ~CarLike() {}
52
53 /// Set the wheels
54 void setWheelJoints(const std::vector<JointPtr_t> wheels) {
55 wheels_ = wheels;
56 }
57
58 void turningRadius(const value_type& rho);
59
60 inline value_type turningRadius() const { return rho_; }
61
62 protected:
63 /// Constructor
64 CarLike(const ProblemConstPtr_t& problem);
65
66 /// Constructor
67 CarLike(const ProblemConstPtr_t& problem, const value_type turningRadius,
68 JointPtr_t xyJoint, JointPtr_t rzJoint,
69 std::vector<JointPtr_t> wheels);
70
71 /// Copy constructor
72 CarLike(const CarLike& other);
73
74 /// Store weak pointer to itself
75 3 void init(CarLikeWkPtr_t weak) {
76 3 core::SteeringMethod::init(weak);
77 3 weak_ = weak;
78 3 }
79
80 DeviceWkPtr_t device_;
81 /// Turning radius
82 value_type rho_;
83 JointPtr_t xy_, rz_;
84 size_type xyId_, rzId_;
85 std::vector<JointPtr_t> wheels_;
86
87 private:
88 CarLikeWkPtr_t weak_;
89 }; // CarLike
90 std::vector<JointPtr_t> getWheelsFromParameter(const ProblemConstPtr_t& problem,
91 const JointPtr_t& rz);
92
93 /// \}
94 } // namespace steeringMethod
95 } // namespace core
96 } // namespace hpp
97 #endif // HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
98