GCC Code Coverage Report

Directory: ./
File: include/hpp/core/steering-method.hh
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 19 23 82.6%
Branches: 7 36 19.4%
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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 #ifndef HPP_CORE_STEERING_METHOD_HH
31 #define HPP_CORE_STEERING_METHOD_HH
32
33 #include <hpp/core/fwd.hh>
34 #include <hpp/core/path.hh>
35 #include <hpp/core/projection-error.hh>
36 #include <hpp/util/debug.hh>
37
38 namespace hpp {
39 namespace core {
40 /// \addtogroup steering_method
41 /// \{
42
43 /// Steering method
44 ///
45 /// A steering method creates paths between pairs of
46 /// configurations for a robot. They are usually used to take
47 /// into account nonholonomic constraints of some robots
48 class HPP_CORE_DLLAPI SteeringMethod {
49 public:
50 /// create a path between two configurations
51 /// \return a Path from q1 to q2 if found. An empty
52 /// Path if Path could not be built.
53 /// \note if q1 == q2, the steering method should not return an empty
54 /// shared pointer.
55 1858684 PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
56 1858684 PathPtr_t path;
57 try {
58
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 1858684 path = impl_compute(q1, q2);
59 ✗ } catch (const projection_error& e) {
60 ✗ hppDout(info, "Could not build path: " << e.what());
61 }
62
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 1858684 assert(q1 != q2 || path);
63 1858684 return path;
64 }
65
66 /// \copydoc SteeringMethod::operator()(ConfigurationIn_t,ConfigurationIn_t)
67 ✗ PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const {
68 ✗ return this->operator()(q1, q2);
69 }
70
71 192 virtual ~SteeringMethod() {};
72
73 /// Copy instance and return shared pointer
74 virtual SteeringMethodPtr_t copy() const = 0;
75
76 1876860 ProblemConstPtr_t problem() const { return problem_.lock(); }
77
78 /// \name Constraints applicable to the robot.
79 /// These constraints are not automatically taken into
80 /// account. Child class can use it if they need.
81 /// \{
82
83 /// Set constraint set
84 156 void constraints(const ConstraintSetPtr_t& constraints) {
85 156 constraints_ = constraints;
86 156 }
87
88 /// Get constraint set
89 1861050 const ConstraintSetPtr_t& constraints() const { return constraints_; }
90 /// \}
91
92 protected:
93 /// Constructor
94 93 SteeringMethod(const ProblemConstPtr_t& problem)
95 93 : problem_(problem), constraints_(), weak_() {}
96 /// Copy constructor
97 ///
98 /// Constraints are copied
99 12 SteeringMethod(const SteeringMethod& other)
100 12 : problem_(other.problem_), constraints_(), weak_() {
101
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 12 if (other.constraints_) {
102 constraints_ =
103
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 12 HPP_DYNAMIC_PTR_CAST(ConstraintSet, other.constraints_->copy());
104 }
105 12 }
106 /// create a path between two configurations
107 virtual PathPtr_t impl_compute(ConfigurationIn_t q1,
108 ConfigurationIn_t q2) const = 0;
109 /// Store weak pointer to itself.
110 105 void init(SteeringMethodWkPtr_t weak) { weak_ = weak; }
111
112 private:
113 ProblemConstWkPtr_t problem_;
114 /// Set of constraints to apply on the paths produced
115 ConstraintSetPtr_t constraints_;
116 /// Weak pointer to itself
117 SteeringMethodWkPtr_t weak_;
118 }; // class SteeringMethod
119 /// \}
120 } // namespace core
121 } // namespace hpp
122 #endif // HPP_CORE_STEERING_METHOD_HH
123