GCC Code Coverage Report


Directory: ./
File: include/hpp/core/path-validation/discretized.hh
Date: 2024-12-13 16:14:03
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1 //
2 // Copyright (c) 2015 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_PATH_VALIDATION_DISCRETIZED_HH
31 #define HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
32
33 #include <hpp/core/config-validations.hh>
34 #include <hpp/core/path-validation.hh>
35
36 namespace hpp {
37 namespace core {
38 namespace pathValidation {
39 /// \addtogroup validation
40 /// \{
41
42 /// Discretized validation of a path
43 ///
44 /// Apply some configuration validation algorithms at discretized values
45 /// of the path parameter.
46 class HPP_CORE_DLLAPI Discretized : public PathValidation,
47 public ConfigValidations {
48 public:
49 static DiscretizedPtr_t create(const value_type& stepSize);
50 static DiscretizedPtr_t create(
51 const value_type& stepSize,
52 std::initializer_list<ConfigValidationPtr_t> validations);
53
54 /// Compute the largest valid interval starting from the path beginning
55 ///
56 /// \param path the path to check for validity,
57 /// \param reverse if true check from the end,
58 /// \retval the extracted valid part of the path, pointer to path if
59 /// path is valid.
60 /// \retval report information about the validation process. A report
61 /// is allocated if the path is not valid.
62 /// \return whether the whole path is valid.
63 virtual bool validate(const PathPtr_t& path, bool reverse,
64 PathPtr_t& validPart,
65 PathValidationReportPtr_t& report);
66
67 /// Validate a single configuration
68 /// \param q input configuration,
69 /// \retval report validation report.
70 /// The default implementation builds a straight path of length 0
71 /// with the input configuration and validates the path.
72 virtual bool validate(ConfigurationIn_t q, ValidationReportPtr_t& report);
73
74 228 virtual ~Discretized() {};
75
76 protected:
77 62 Discretized(const value_type& stepSize) : stepSize_(stepSize) {}
78 Discretized(const value_type& stepSize,
79 std::initializer_list<ConfigValidationPtr_t> validations)
80 : ConfigValidations(validations), stepSize_(stepSize) {};
81
82 value_type stepSize_;
83 }; // class Discretized
84 /// \}
85 } // namespace pathValidation
86 } // namespace core
87 } // namespace hpp
88
89 #endif // HPP_CORE_DISCRETIZED_PATH_VALIDATION_HH
90