GCC Code Coverage Report


Directory: ./
File: src/plan-and-optimize.cc
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 0 17 0.0%
Branches: 0 8 0.0%

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/path-optimizer.hh>
31 #include <hpp/core/plan-and-optimize.hh>
32
33 namespace hpp {
34 namespace core {
35
36 void PlanAndOptimize::oneStep() { pathPlanner_->oneStep(); }
37
38 void PlanAndOptimize::startSolve() { pathPlanner_->startSolve(); }
39
40 PathVectorPtr_t PlanAndOptimize::finishSolve(const PathVectorPtr_t& path) {
41 PathVectorPtr_t result = path;
42 for (Optimizers_t::iterator itOpt = optimizers_.begin();
43 itOpt != optimizers_.end(); ++itOpt) {
44 result = (*itOpt)->optimize(result);
45 }
46 return result;
47 }
48
49 void PlanAndOptimize::addPathOptimizer(const PathOptimizerPtr_t& optimizer) {
50 optimizers_.push_back(optimizer);
51 }
52
53 PlanAndOptimizePtr_t PlanAndOptimize::create(
54 const PathPlannerPtr_t& pathPlanner) {
55 PlanAndOptimize* ptr = new PlanAndOptimize(pathPlanner);
56 return PlanAndOptimizePtr_t(ptr);
57 }
58
59 PlanAndOptimize::PlanAndOptimize(const PathPlannerPtr_t& pathPlanner)
60 : PathPlanner(pathPlanner->problem(), pathPlanner->roadmap()),
61 pathPlanner_(pathPlanner),
62 optimizers_() {}
63
64 } // namespace core
65 } // namespace hpp
66