Directory: | ./ |
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File: | src/parameter.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2018, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr), Florent Lamiraux | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #include <hpp/core/parameter.hh> | ||
30 | #include <hpp/util/exception-factory.hh> | ||
31 | |||
32 | namespace hpp { | ||
33 | namespace core { | ||
34 | |||
35 | static void* copyValue(const Parameter& value); | ||
36 | |||
37 | /* | ||
38 | EitherType::EitherType(const Parameter& value) : value_(new Parameter(value)) | ||
39 | { | ||
40 | } | ||
41 | |||
42 | EitherType::~EitherType() | ||
43 | { | ||
44 | delete value_; | ||
45 | value_ = NULL; | ||
46 | } | ||
47 | |||
48 | EitherType::operator bool() const | ||
49 | { | ||
50 | return value_->boolValue(); | ||
51 | } | ||
52 | EitherType::operator unsigned() const | ||
53 | { | ||
54 | return value_->unsignedValue(); | ||
55 | } | ||
56 | EitherType::operator int() const | ||
57 | { | ||
58 | return value_->intValue(); | ||
59 | } | ||
60 | EitherType::operator float() const | ||
61 | { | ||
62 | return value_->floatValue(); | ||
63 | } | ||
64 | EitherType::operator double() const | ||
65 | { | ||
66 | return value_->doubleValue(); | ||
67 | } | ||
68 | EitherType::operator std::string() const | ||
69 | { | ||
70 | return value_->stringValue(); | ||
71 | } | ||
72 | EitherType::operator Vector() const | ||
73 | { | ||
74 | return value_->vectorValue(); | ||
75 | } | ||
76 | EitherType::operator Eigen::MatrixXd() const | ||
77 | { | ||
78 | return value_->matrixXdValue(); | ||
79 | } | ||
80 | |||
81 | EitherType::operator Eigen::Matrix4d() const | ||
82 | { | ||
83 | return value_->matrix4dValue(); | ||
84 | } | ||
85 | */ | ||
86 | |||
87 | 2532 | void Parameter::deleteValue() { | |
88 |
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2532 | switch (type_) { |
89 | 446 | case BOOL: | |
90 |
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446 | delete (const bool*)value_; |
91 | 446 | break; | |
92 | 323 | case INT: | |
93 |
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323 | delete (const size_type*)value_; |
94 | 323 | break; | |
95 | 1616 | case FLOAT: | |
96 |
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1616 | delete (const value_type*)value_; |
97 | 1616 | break; | |
98 | 75 | case STRING: | |
99 |
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75 | delete (const std::string*)value_; |
100 | 75 | break; | |
101 | 72 | case VECTOR: | |
102 |
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72 | delete (const vector_t*)value_; |
103 | 72 | break; | |
104 | ✗ | case MATRIX: | |
105 | ✗ | delete (const matrix_t*)value_; | |
106 | ✗ | break; | |
107 | 2532 | default:; | |
108 | } | ||
109 | 2532 | } | |
110 | |||
111 | 2526 | Parameter::~Parameter() { deleteValue(); } | |
112 | |||
113 | 114 | Parameter::Parameter(const bool& value) | |
114 | 114 | : type_(BOOL), value_(new bool(value)) {} | |
115 | |||
116 | 83 | Parameter::Parameter(const size_type& value) | |
117 | 83 | : type_(INT), value_(new size_type(value)) {} | |
118 | |||
119 | 408 | Parameter::Parameter(const value_type& value) | |
120 | 408 | : type_(FLOAT), value_(new value_type(value)) {} | |
121 | 19 | Parameter::Parameter(const std::string& value) | |
122 |
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19 | : type_(STRING), value_(new std::string(value)) {} |
123 | |||
124 | 18 | Parameter::Parameter(const vector_t& value) | |
125 |
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18 | : type_(VECTOR), value_(new vector_t(value)) {} |
126 | |||
127 | ✗ | Parameter::Parameter(const matrix_t& value) | |
128 | ✗ | : type_(MATRIX), value_(new matrix_t(value)) {} | |
129 | |||
130 | 1884 | Parameter::Parameter(const Parameter& value) | |
131 | 1884 | : type_(value.type_), value_(copyValue(value)) {} | |
132 | |||
133 | 1890 | void* copyValue(const Parameter& value) { | |
134 | void* copy; | ||
135 |
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1890 | switch (value.type()) { |
136 | ✗ | case Parameter::NONE: | |
137 | ✗ | copy = NULL; | |
138 | ✗ | break; | |
139 | 332 | case Parameter::BOOL: | |
140 | 332 | copy = new bool(value.boolValue()); | |
141 | 332 | break; | |
142 | 240 | case Parameter::INT: | |
143 | 240 | copy = new size_type(value.intValue()); | |
144 | 240 | break; | |
145 | 1208 | case Parameter::FLOAT: | |
146 | 1208 | copy = new value_type(value.floatValue()); | |
147 | 1208 | break; | |
148 | 56 | case Parameter::STRING: | |
149 |
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56 | copy = new std::string(value.stringValue()); |
150 | 56 | break; | |
151 | 54 | case Parameter::VECTOR: | |
152 |
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54 | copy = new vector_t(value.vectorValue()); |
153 | 54 | break; | |
154 | ✗ | case Parameter::MATRIX: | |
155 | ✗ | copy = new matrix_t(value.matrixValue()); | |
156 | ✗ | break; | |
157 | ✗ | default: | |
158 | ✗ | throw std::invalid_argument("value type is unknown."); | |
159 | break; | ||
160 | } | ||
161 | 1890 | return copy; | |
162 | } | ||
163 | |||
164 | ✗ | Parameter::Parameter() : type_(NONE), value_(NULL) {} | |
165 | |||
166 | 6 | Parameter Parameter::operator=(const Parameter& value) { | |
167 |
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6 | if (&value != this) { |
168 |
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6 | if (value_ != 0x0) deleteValue(); |
169 | 6 | type_ = value.type_; | |
170 | 6 | void** ptValue = const_cast<void**>(&value_); | |
171 | 6 | *ptValue = copyValue(value); | |
172 | } | ||
173 | 6 | return *this; | |
174 | } | ||
175 | |||
176 | // const EitherType Parameter::value() const | ||
177 | // { | ||
178 | // return EitherType(*this); | ||
179 | // } | ||
180 | |||
181 | 2207 | Parameter::Type Parameter::type() const { return type_; } | |
182 | |||
183 | 2218 | inline void check(Parameter::Type type, Parameter::Type expected) { | |
184 |
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2218 | if (type != expected) |
185 | ✗ | throw std::invalid_argument("value is not a " + | |
186 | ✗ | Parameter::typeName(expected)); | |
187 | 2218 | } | |
188 | |||
189 | 455 | bool Parameter::boolValue() const { | |
190 | 455 | check(type_, BOOL); | |
191 | 455 | return *((const bool*)value_); | |
192 | } | ||
193 | |||
194 | 270 | size_type Parameter::intValue() const { | |
195 | 270 | check(type_, INT); | |
196 | 270 | return *((const size_type*)value_); | |
197 | } | ||
198 | |||
199 | 1379 | value_type Parameter::floatValue() const { | |
200 | 1379 | check(type_, FLOAT); | |
201 | 1379 | return *((const value_type*)value_); | |
202 | } | ||
203 | |||
204 | 60 | std::string Parameter::stringValue() const { | |
205 | 60 | check(type_, STRING); | |
206 | 60 | return *((const std::string*)value_); | |
207 | } | ||
208 | |||
209 | 54 | vector_t Parameter::vectorValue() const { | |
210 | 54 | check(type_, VECTOR); | |
211 | 54 | return *((const vector_t*)value_); | |
212 | } | ||
213 | |||
214 | ✗ | matrix_t Parameter::matrixValue() const { | |
215 | ✗ | check(type_, MATRIX); | |
216 | ✗ | return *((const matrix_t*)value_); | |
217 | } | ||
218 | |||
219 | ✗ | std::string Parameter::typeName(Type type) { | |
220 | ✗ | switch (type) { | |
221 | ✗ | case BOOL: | |
222 | ✗ | return std::string("bool"); | |
223 | ✗ | case INT: | |
224 | ✗ | return std::string("size_type"); | |
225 | ✗ | case FLOAT: | |
226 | ✗ | return std::string("value_type"); | |
227 | ✗ | case STRING: | |
228 | ✗ | return std::string("string"); | |
229 | ✗ | case VECTOR: | |
230 | ✗ | return std::string("vector"); | |
231 | ✗ | case MATRIX: | |
232 | ✗ | return std::string("matrix"); | |
233 | ✗ | default: | |
234 | ✗ | return std::string("unknown"); | |
235 | } | ||
236 | } | ||
237 | |||
238 | 275 | const Parameter& ParameterDescription::defaultValue() const { | |
239 |
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275 | if (defaultValue_.type() == type_) return defaultValue_; |
240 | ✗ | HPP_THROW(std::logic_error, | |
241 | "Parameter " << name_ << " expected a default value of type " | ||
242 | << Parameter::typeName(type_) | ||
243 | << " but has invalid default value " << defaultValue_); | ||
244 | } | ||
245 | |||
246 | ✗ | std::ostream& operator<<(std::ostream& os, const Parameter& value) { | |
247 | ✗ | os << "Type=" << Parameter::typeName(value.type_) << ", value="; | |
248 | ✗ | switch (value.type_) { | |
249 | ✗ | case Parameter::BOOL: | |
250 | ✗ | os << value.boolValue(); | |
251 | ✗ | break; | |
252 | ✗ | case Parameter::INT: | |
253 | ✗ | os << value.intValue(); | |
254 | ✗ | break; | |
255 | ✗ | case Parameter::FLOAT: | |
256 | ✗ | os << value.floatValue(); | |
257 | ✗ | break; | |
258 | ✗ | case Parameter::STRING: | |
259 | ✗ | os << value.stringValue(); | |
260 | ✗ | break; | |
261 | ✗ | case Parameter::VECTOR: | |
262 | ✗ | os << value.vectorValue(); | |
263 | ✗ | break; | |
264 | ✗ | case Parameter::MATRIX: | |
265 | ✗ | os << value.matrixValue(); | |
266 | ✗ | break; | |
267 | ✗ | default: | |
268 | ✗ | return os; | |
269 | } | ||
270 | ✗ | return os; | |
271 | } | ||
272 | |||
273 | // template< typename T > | ||
274 | // struct DYNAMIC_GRAPH_DLLAPI ValueHelper | ||
275 | // { | ||
276 | // static const Parameter::Type TypeID; | ||
277 | // }; | ||
278 | // template<> const Parameter::Type ValueHelper<bool>::TypeID = Parameter::BOOL; | ||
279 | // template<> const Parameter::Type ValueHelper<unsigned>::TypeID = | ||
280 | // Parameter::UNSIGNED; template<> const Parameter::Type | ||
281 | // ValueHelper<int>::TypeID = Parameter::INT; template<> const Parameter::Type | ||
282 | // ValueHelper<float>::TypeID = Parameter::FLOAT; template<> const | ||
283 | // Parameter::Type ValueHelper<double>::TypeID = Parameter::DOUBLE; template<> | ||
284 | // const Parameter::Type ValueHelper<std::string>::TypeID = Parameter::STRING; | ||
285 | // template<> const Parameter::Type ValueHelper<Vector>::TypeID = | ||
286 | // Parameter::VECTOR; template<> const Parameter::Type | ||
287 | // ValueHelper<Eigen::MatrixXd>::TypeID = Parameter::MATRIX; template<> const | ||
288 | // Parameter::Type ValueHelper<Eigen::Matrix4d>::TypeID = Parameter::MATRIX4D; | ||
289 | |||
290 | } // namespace core | ||
291 | } // namespace hpp | ||
292 |