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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/mesh_loader/loader.cpp	Lines:	41	49	83.7 %
Date:	2024-02-09 12:57:42	Branches:	27	57	47.4 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2016, CNRS - LAAS
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#include <hpp/fcl/mesh_loader/loader.h>
#include <hpp/fcl/mesh_loader/assimp.h>

#include <boost/filesystem.hpp>

#ifdef HPP_FCL_HAS_OCTOMAP
#include <hpp/fcl/octree.h>
#endif

#include <hpp/fcl/BV/BV.h>

namespace hpp {
namespace fcl {
bool CachedMeshLoader::Key::operator<(const CachedMeshLoader::Key& b) const {
  const CachedMeshLoader::Key& a = *this;
  for (int i = 0; i < 3; ++i) {
    if (a.scale[i] < b.scale[i])
      return true;
    else if (a.scale[i] > b.scale[i])
      return false;
  }
  return std::less<std::string>()(a.filename, b.filename);
}

template <typename BV>
BVHModelPtr_t _load(const std::string& filename, const Vec3f& scale) {
  shared_ptr<BVHModel<BV> > polyhedron(new BVHModel<BV>);
  loadPolyhedronFromResource(filename, scale, polyhedron);
  return polyhedron;
}

BVHModelPtr_t MeshLoader::load(const std::string& filename,
                               const Vec3f& scale) {
  switch (bvType_) {
    case BV_AABB:
      return _load<AABB>(filename, scale);
    case BV_OBB:
      return _load<OBB>(filename, scale);
    case BV_RSS:
      return _load<RSS>(filename, scale);
    case BV_kIOS:
      return _load<kIOS>(filename, scale);
    case BV_OBBRSS:
      return _load<OBBRSS>(filename, scale);
    case BV_KDOP16:
      return _load<KDOP<16> >(filename, scale);
    case BV_KDOP18:
      return _load<KDOP<18> >(filename, scale);
    case BV_KDOP24:
      return _load<KDOP<24> >(filename, scale);
    default:
      throw std::invalid_argument("Unhandled bouding volume type.");
  }
}

CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) {
#ifdef HPP_FCL_HAS_OCTOMAP
  shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename));
  return CollisionGeometryPtr_t(new hpp::fcl::OcTree(octree));
#else
  throw std::logic_error(
      "hpp-fcl compiled without OctoMap. Cannot create OcTrees.");
#endif
}

BVHModelPtr_t CachedMeshLoader::load(const std::string& filename,
                                     const Vec3f& scale) {
  Key key(filename, scale);

  std::time_t mtime = 0;
  try {
    mtime = boost::filesystem::last_write_time(filename);

    Cache_t::const_iterator _cached = cache_.find(key);
    if (_cached != cache_.end() && _cached->second.mtime == mtime)
      // File found in cache and mtime is the same
      return _cached->second.model;
  } catch (boost::filesystem::filesystem_error&) {
    // Could not stat. Make sure we will try to load the file so that
    // there will be a file not found error.
  }

  BVHModelPtr_t geom = MeshLoader::load(filename, scale);
  Value val;
  val.model = geom;
  val.mtime = mtime;
  cache_[key] = val;
  return geom;
}
}  // namespace fcl

}  // namespace hpp


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* Copyright (c) 2016, CNRS - LAAS
7			* All rights reserved.
8			*
9			* Redistribution and use in source and binary forms, with or without
10			* modification, are permitted provided that the following conditions
11			* are met:
12			*
13			* * Redistributions of source code must retain the above copyright
14			* notice, this list of conditions and the following disclaimer.
15			* * Redistributions in binary form must reproduce the above
16			* copyright notice, this list of conditions and the following
17			* disclaimer in the documentation and/or other materials provided
18			* with the distribution.
19			* * Neither the name of Open Source Robotics Foundation nor the names of its
20			* contributors may be used to endorse or promote products derived
21			* from this software without specific prior written permission.
22			*
23			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34			* POSSIBILITY OF SUCH DAMAGE.
35			*/
36
37			#include <hpp/fcl/mesh_loader/loader.h>
38			#include <hpp/fcl/mesh_loader/assimp.h>
39
40			#include <boost/filesystem.hpp>
41
42			#ifdef HPP_FCL_HAS_OCTOMAP
43			#include <hpp/fcl/octree.h>
44			#endif
45
46			#include <hpp/fcl/BV/BV.h>
47
48			namespace hpp {
49			namespace fcl {
50		16	bool CachedMeshLoader::Key::operator<(const CachedMeshLoader::Key& b) const {
51		16	const CachedMeshLoader::Key& a = *this;
52	✓✓	64	for (int i = 0; i < 3; ++i) {
53	✗✓	48	if (a.scale[i] < b.scale[i])
54			return true;
55	✗✓	48	else if (a.scale[i] > b.scale[i])
56			return false;
57			}
58		16	return std::less<std::string>()(a.filename, b.filename);
59			}
60
61			template <typename BV>
62		18	BVHModelPtr_t _load(const std::string& filename, const Vec3f& scale) {
63	✓✗✓✗ ✓✗	36	shared_ptr<BVHModel<BV> > polyhedron(new BVHModel<BV>);
64	✓✗	18	loadPolyhedronFromResource(filename, scale, polyhedron);
65		36	return polyhedron;
66			}
67
68		9	BVHModelPtr_t MeshLoader::load(const std::string& filename,
69			const Vec3f& scale) {
70	✓✓✓✓ ✓✓✓✓ ✗	9	switch (bvType_) {
71		1	case BV_AABB:
72		1	return _load<AABB>(filename, scale);
73		1	case BV_OBB:
74		1	return _load<OBB>(filename, scale);
75		1	case BV_RSS:
76		1	return _load<RSS>(filename, scale);
77		1	case BV_kIOS:
78		1	return _load<kIOS>(filename, scale);
79		2	case BV_OBBRSS:
80		2	return _load<OBBRSS>(filename, scale);
81		1	case BV_KDOP16:
82		1	return _load<KDOP<16> >(filename, scale);
83		1	case BV_KDOP18:
84		1	return _load<KDOP<18> >(filename, scale);
85		1	case BV_KDOP24:
86		1	return _load<KDOP<24> >(filename, scale);
87			default:
88			throw std::invalid_argument("Unhandled bouding volume type.");
89			}
90			}
91
92			CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) {
93			#ifdef HPP_FCL_HAS_OCTOMAP
94			shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename));
95			return CollisionGeometryPtr_t(new hpp::fcl::OcTree(octree));
96			#else
97			throw std::logic_error(
98			"hpp-fcl compiled without OctoMap. Cannot create OcTrees.");
99			#endif
100			}
101
102		16	BVHModelPtr_t CachedMeshLoader::load(const std::string& filename,
103			const Vec3f& scale) {
104	✓✗	32	Key key(filename, scale);
105
106		16	std::time_t mtime = 0;
107			try {
108	✓✗✓✗	16	mtime = boost::filesystem::last_write_time(filename);
109
110	✓✗	16	Cache_t::const_iterator _cached = cache_.find(key);
111	✓✓✓✗ ✓✓	16	if (_cached != cache_.end() && _cached->second.mtime == mtime)
112			// File found in cache and mtime is the same
113		8	return _cached->second.model;
114			} catch (boost::filesystem::filesystem_error&) {
115			// Could not stat. Make sure we will try to load the file so that
116			// there will be a file not found error.
117			}
118
119	✓✗	16	BVHModelPtr_t geom = MeshLoader::load(filename, scale);
120		16	Value val;
121		8	val.model = geom;
122		8	val.mtime = mtime;
123	✓✗	8	cache_[key] = val;
124		8	return geom;
125			}
126			} // namespace fcl
127
128			} // namespace hpp