| Directory: | ./ |
|---|---|
| File: | src/parameter.cc |
| Date: | 2024-12-13 16:14:03 |
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| Lines: | 78 | 138 | 56.5% |
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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 |