GCC Code Coverage Report

Directory: ./
File: src/node.cc
Date: 2025-03-10 11:18:21
Exec Total Coverage
Lines: 37 46 80.4%
Branches: 18 38 47.4%
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 <hpp/core/connected-component.hh>
31 #include <hpp/core/edge.hh>
32 #include <hpp/core/node.hh>
33 #include <hpp/pinocchio/configuration.hh>
34 #include <hpp/util/debug.hh>
35 #include <stdexcept>
36
37 namespace hpp {
38 namespace core {
39
40 using pinocchio::displayConfig;
41
42 82 Node::Node(ConfigurationIn_t configuration)
43 82 : configuration_(configuration),
44
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 82 connectedComponent_(ConnectedComponent::create()) {}
45
46 ✗ Node::Node(ConfigurationIn_t configuration,
47 ✗ ConnectedComponentPtr_t connectedComponent)
48 ✗ : configuration_(configuration), connectedComponent_(connectedComponent) {
49 ✗ assert(connectedComponent_);
50 }
51
52 132 void Node::addOutEdge(EdgePtr_t edge) {
53
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 132 assert(edge->from() == this);
54 // Check that same edge does not exist
55
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 211 for (Edges_t::iterator it = outEdges_.begin(); it != outEdges_.end(); ++it) {
56
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 79 if ((*it)->to() == edge->to()) {
57 std::string msg(
58 ✗ "Attempt to insert an edge between two nodes already connected");
59 hppDout(error, msg.c_str());
60 hppDout(error, "from: " << configuration_.transpose());
61 hppDout(error, " to: " << edge->to()->configuration().transpose());
62 ✗ throw std::runtime_error(msg.c_str());
63 }
64 }
65 132 outEdges_.push_back(edge);
66 132 }
67
68 132 void Node::addInEdge(EdgePtr_t edge) {
69
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 132 assert(edge->to() == this);
70 // Check that same edge does not exist
71
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 212 for (Edges_t::iterator it = inEdges_.begin(); it != inEdges_.end(); ++it) {
72
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 80 if ((*it)->from() == edge->from()) {
73 std::string msg(
74 ✗ "Attempt to insert an edge between two nodes already connected");
75 hppDout(error, msg.c_str());
76 hppDout(error, "from: " << (edge->from()->configuration()).transpose());
77 hppDout(error, " to: " << configuration_.transpose());
78 ✗ throw std::runtime_error(msg.c_str());
79 }
80 }
81 132 inEdges_.push_back(edge);
82 132 }
83
84 88 void Node::connectedComponent(const ConnectedComponentPtr_t& cc) {
85 88 connectedComponent_ = cc;
86 88 }
87
88 759 ConnectedComponentPtr_t Node::connectedComponent() const {
89 759 return connectedComponent_;
90 }
91
92 183 const Edges_t& Node::outEdges() const { return outEdges_; }
93
94 ✗ const Edges_t& Node::inEdges() const { return inEdges_; }
95
96 132 bool Node::isOutNeighbor(const NodePtr_t& n) const {
97
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 211 for (Edges_t::const_iterator it = outEdges_.begin(); it != outEdges_.end();
98 79 ++it)
99
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 79 if ((*it)->to() == n) return true;
100 132 return false;
101 }
102
103 132 bool Node::isInNeighbor(const NodePtr_t& n) const {
104
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 212 for (Edges_t::const_iterator it = inEdges_.begin(); it != inEdges_.end();
105 80 ++it)
106
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 80 if ((*it)->from() == n) return true;
107 132 return false;
108 }
109
110 1383 const Configuration_t& Node::configuration() const { return configuration_; }
111
112 24 std::ostream& Node::print(std::ostream& os) const {
113
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 24 os << displayConfig(configuration()) << std::endl;
114 24 return os;
115 }
116 24 std::ostream& operator<<(std::ostream& os, const Node& n) {
117 24 return n.print(os);
118 }
119 } // namespace core
120 } // namespace hpp
121