GCC Code Coverage Report


Directory: ./
File: include/hpp/core/collision-validation-report.hh
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 2 16 12.5%
Branches: 1 12 8.3%

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1 //
2 // Copyright (c) 2014 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_COLLISION_VALIDATION_REPORT_HH
31 #define HPP_CORE_COLLISION_VALIDATION_REPORT_HH
32
33 #include <coal/collision_data.h>
34
35 #include <hpp/core/collision-pair.hh>
36 #include <hpp/core/validation-report.hh>
37 #include <hpp/pinocchio/collision-object.hh>
38 #include <hpp/util/indent.hh>
39
40 namespace hpp {
41 namespace core {
42 /// \addtogroup validation
43 /// \{
44
45 /// Validate a configuration with respect to collision
46 ///
47 struct HPP_CORE_DLLAPI CollisionValidationReport : public ValidationReport {
48 CollisionValidationReport() {}
49
50 CollisionValidationReport(CollisionObjectConstPtr_t o1,
51 CollisionObjectConstPtr_t o2,
52 const coal::CollisionResult& r)
53 : object1(o1), object2(o2), result(r) {}
54
55 204 CollisionValidationReport(const CollisionPair_t& pair,
56 const coal::CollisionResult& r)
57
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204 : object1(pair.first), object2(pair.second), result(r) {}
58
59 /// First object in collision
60 CollisionObjectConstPtr_t object1;
61 std::string objectName1;
62 /// Second object in collision
63 CollisionObjectConstPtr_t object2;
64 std::string objectName2;
65 /// coal collision results
66 coal::CollisionResult result;
67 /// Write report in a stream
68 virtual std::ostream& print(std::ostream& os) const {
69 os << "Collision between object "
70 << (object1 ? object1->name() : objectName1) << " and "
71 << (object2 ? object2->name() : objectName2);
72 return os;
73 }
74 std::pair<std::string, std::string> getObjectNames() const {
75 return std::pair<std::string, std::string>(
76 object1 ? object1->name() : objectName1,
77 object2 ? object2->name() : objectName2);
78 }
79 }; // class CollisionValidationReport
80
81 /// Validate a configuration with respect to collision
82 ///
83 struct HPP_CORE_DLLAPI AllCollisionsValidationReport
84 : public CollisionValidationReport {
85 AllCollisionsValidationReport() {}
86
87 AllCollisionsValidationReport(CollisionObjectConstPtr_t o1,
88 CollisionObjectConstPtr_t o2,
89 const coal::CollisionResult& r)
90 : CollisionValidationReport(o1, o2, r) {}
91
92 AllCollisionsValidationReport(const CollisionPair_t& pair,
93 const coal::CollisionResult& r)
94 : CollisionValidationReport(pair, r) {}
95
96 std::vector<CollisionValidationReportPtr_t> collisionReports;
97 virtual std::ostream& print(std::ostream& os) const {
98 os << " Number of collisions : " << collisionReports.size() << "."
99 << incendl;
100 for (std::vector<CollisionValidationReportPtr_t>::const_iterator it =
101 collisionReports.begin();
102 it != collisionReports.end(); ++it) {
103 os << **it << iendl;
104 }
105 return os << decindent;
106 }
107 }; // class AllCollisionsValidationReport
108 /// \}
109 } // namespace core
110 } // namespace hpp
111
112 #endif // HPP_CORE_COLLISION_VALIDATION_REPORT_HH
113