Directory: | ./ |
---|---|
File: | src/constraint-set.cc |
Date: | 2024-08-10 11:29:48 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 45 | 76 | 59.2% |
Branches: | 37 | 114 | 32.5% |
Line | Branch | Exec | Source |
---|---|---|---|
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 | #include <boost/serialization/vector.hpp> | ||
31 | #include <boost/serialization/weak_ptr.hpp> | ||
32 | #include <hpp/core/config-projector.hh> | ||
33 | #include <hpp/core/constraint-set.hh> | ||
34 | #include <hpp/pinocchio/configuration.hh> | ||
35 | #include <hpp/util/debug.hh> | ||
36 | #include <hpp/util/serialization.hh> | ||
37 | |||
38 | namespace hpp { | ||
39 | namespace core { | ||
40 | 1861315 | bool ConstraintSet::impl_compute(ConfigurationOut_t configuration) { | |
41 | 1861315 | for (Constraints_t::iterator itConstraint = constraints_.begin(); | |
42 |
2/2✓ Branch 3 taken 1861315 times.
✓ Branch 4 taken 1861279 times.
|
3722594 | itConstraint != constraints_.end(); ++itConstraint) { |
43 |
4/6✓ Branch 3 taken 1861315 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 1861315 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 36 times.
✓ Branch 9 taken 1861279 times.
|
1861315 | if (!(*itConstraint)->impl_compute(configuration)) return false; |
44 | } | ||
45 | 1861279 | return true; | |
46 | } | ||
47 | |||
48 |
1/2✓ Branch 2 taken 3705931 times.
✗ Branch 3 not taken.
|
3705931 | ConstraintPtr_t ConstraintSet::copy() const { return createCopy(weak_.lock()); } |
49 | |||
50 | 69 | ConstraintSet::ConstraintSet(const DevicePtr_t& robot, const std::string& name) | |
51 | 69 | : Constraint(name), constraints_(), configProjI_(-1) { | |
52 |
3/6✓ Branch 2 taken 69 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 69 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 69 times.
✗ Branch 10 not taken.
|
69 | constraints_.push_back(ConfigProjector::create(robot, "Trivial", 1e-12, 0)); |
53 | 69 | } | |
54 | |||
55 | 3705931 | ConstraintSet::ConstraintSet(const ConstraintSet& other) | |
56 | 3705931 | : Constraint(other), constraints_(), configProjI_(other.configProjI_) { | |
57 | 3705931 | for (Constraints_t::const_iterator it = other.constraints_.begin(); | |
58 |
2/2✓ Branch 2 taken 3705931 times.
✓ Branch 3 taken 3705931 times.
|
7411862 | it != other.constraints_.end(); ++it) |
59 |
2/4✓ Branch 3 taken 3705931 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 3705931 times.
✗ Branch 7 not taken.
|
3705931 | constraints_.push_back((*it)->copy()); |
60 | 3705931 | } | |
61 | |||
62 | 9 | void ConstraintSet::addConstraint(const ConstraintPtr_t& c) { | |
63 | 9 | ConfigProjectorPtr_t cp(HPP_DYNAMIC_PTR_CAST(ConfigProjector, c)); | |
64 | 9 | ConstraintSetPtr_t cs(HPP_DYNAMIC_PTR_CAST(ConstraintSet, c)); | |
65 |
1/2✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
|
9 | if (cp) { |
66 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 9 times.
|
9 | if (configProjI_ >= 0) |
67 | ✗ | throw std::runtime_error("Constraint set " + name() + | |
68 | " cannot store " | ||
69 | ✗ | "more than one config-projector."); | |
70 |
1/2✓ Branch 3 taken 9 times.
✗ Branch 4 not taken.
|
9 | constraints_.erase(constraints_.begin()); |
71 | 9 | configProjI_ = static_cast<int>(constraints_.size()); | |
72 | ✗ | } else if (cs) { | |
73 | ✗ | for (Constraints_t::iterator _c = cs->begin(); _c != cs->end(); ++_c) | |
74 | ✗ | addConstraint(*_c); | |
75 | ✗ | return; | |
76 | } | ||
77 |
1/2✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
|
9 | constraints_.push_back(c); |
78 |
2/4✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 9 times.
✗ Branch 5 not taken.
|
9 | } |
79 | |||
80 | 24092936 | ConfigProjectorPtr_t ConstraintSet::configProjector() const { | |
81 | 24092936 | return (configProjI_ >= 0 | |
82 | 24085323 | ? HPP_STATIC_PTR_CAST(ConfigProjector, constraints_[configProjI_]) | |
83 |
2/2✓ Branch 0 taken 24085323 times.
✓ Branch 1 taken 7613 times.
|
48178259 | : ConfigProjectorPtr_t()); |
84 | } | ||
85 | |||
86 | 7419870 | bool ConstraintSet::isSatisfied(ConfigurationIn_t configuration) { | |
87 | 7419870 | for (Constraints_t::iterator itConstraint = constraints_.begin(); | |
88 |
2/2✓ Branch 3 taken 7419870 times.
✓ Branch 4 taken 7419870 times.
|
14839740 | itConstraint != constraints_.end(); ++itConstraint) { |
89 |
3/6✓ Branch 3 taken 7419870 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 7419870 times.
✗ Branch 7 not taken.
✗ Branch 9 not taken.
✓ Branch 10 taken 7419870 times.
|
7419870 | if (!(*itConstraint)->isSatisfied(configuration)) { |
90 | ✗ | return false; | |
91 | } | ||
92 | } | ||
93 | 7419870 | return true; | |
94 | } | ||
95 | |||
96 | 56 | bool ConstraintSet::isSatisfied(ConfigurationIn_t configuration, | |
97 | vector_t& error) { | ||
98 | 56 | bool result = true; | |
99 |
1/2✓ Branch 1 taken 56 times.
✗ Branch 2 not taken.
|
56 | error.resize(0); |
100 |
1/2✓ Branch 1 taken 56 times.
✗ Branch 2 not taken.
|
56 | vector_t localError; |
101 | 56 | for (Constraints_t::iterator itConstraint = constraints_.begin(); | |
102 |
2/2✓ Branch 2 taken 56 times.
✓ Branch 3 taken 56 times.
|
112 | itConstraint != constraints_.end(); ++itConstraint) { |
103 |
3/6✓ Branch 3 taken 56 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 56 times.
✗ Branch 7 not taken.
✗ Branch 9 not taken.
✓ Branch 10 taken 56 times.
|
56 | if (!(*itConstraint)->isSatisfied(configuration, localError)) { |
104 | ✗ | result = false; | |
105 | } | ||
106 |
1/2✓ Branch 3 taken 56 times.
✗ Branch 4 not taken.
|
56 | error.conservativeResize(error.size() + localError.size()); |
107 |
2/4✓ Branch 2 taken 56 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 56 times.
✗ Branch 6 not taken.
|
56 | error.tail(localError.size()) = localError; |
108 | } | ||
109 | 56 | return result; | |
110 | 56 | } | |
111 | |||
112 | ✗ | size_type ConstraintSet::numberNonLockedDof() const { | |
113 | ✗ | return _configProj()->numberFreeVariables(); | |
114 | } | ||
115 | |||
116 | ✗ | void ConstraintSet::compressVector(vectorIn_t normal, vectorOut_t small) const { | |
117 | ✗ | _configProj()->compressVector(normal, small); | |
118 | } | ||
119 | |||
120 | ✗ | void ConstraintSet::uncompressVector(vectorIn_t small, | |
121 | vectorOut_t normal) const { | ||
122 | ✗ | _configProj()->uncompressVector(small, normal); | |
123 | } | ||
124 | |||
125 | ✗ | void ConstraintSet::compressMatrix(matrixIn_t normal, matrixOut_t small, | |
126 | bool rows) const { | ||
127 | ✗ | _configProj()->compressMatrix(normal, small, rows); | |
128 | } | ||
129 | |||
130 | ✗ | void ConstraintSet::uncompressMatrix(matrixIn_t small, matrixOut_t normal, | |
131 | bool rows) const { | ||
132 | ✗ | _configProj()->uncompressMatrix(small, normal, rows); | |
133 | } | ||
134 | |||
135 | ✗ | std::ostream& ConstraintSet::print(std::ostream& os) const { | |
136 | ✗ | os << "Constraint set " << name() << ", contains" << incindent; | |
137 | ✗ | for (Constraints_t::const_iterator itConstraint = constraints_.begin(); | |
138 | ✗ | itConstraint != constraints_.end(); itConstraint++) { | |
139 | ✗ | os << iendl << **itConstraint; | |
140 | } | ||
141 | ✗ | return os << decindent; | |
142 | } | ||
143 | |||
144 | ✗ | ConfigProjectorPtr_t ConstraintSet::_configProj() const { | |
145 | ✗ | return HPP_STATIC_PTR_CAST( | |
146 | ConfigProjector, constraints_[configProjI_ >= 0 ? configProjI_ : 0]); | ||
147 | } | ||
148 | |||
149 | template <class Archive> | ||
150 | ✗ | void ConstraintSet::serialize(Archive& ar, const unsigned int version) { | |
151 | using namespace boost::serialization; | ||
152 | (void)version; | ||
153 | ✗ | ar& make_nvp("base", base_object<Constraint>(*this)); | |
154 | ✗ | ar& BOOST_SERIALIZATION_NVP(constraints_); | |
155 | ✗ | ar& BOOST_SERIALIZATION_NVP(configProjI_); | |
156 | ✗ | ar& BOOST_SERIALIZATION_NVP(weak_); | |
157 | } | ||
158 | |||
159 | HPP_SERIALIZATION_IMPLEMENT(ConstraintSet); | ||
160 | } // namespace core | ||
161 | } // namespace hpp | ||
162 | |||
163 | BOOST_CLASS_EXPORT_IMPLEMENT(hpp::core::ConstraintSet) | ||
164 |