GCC Code Coverage Report

Line	Exec	Source
1		// Copyright (c) 2014, LAAS-CNRS
2		// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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		#ifndef HPP_MANIPULATION_CORBA_GRAPH_IMPL_HH
30		#define HPP_MANIPULATION_CORBA_GRAPH_IMPL_HH
31
32		#include <hpp/manipulation/graph/graph.hh>
33		#include <hpp/manipulation/problem-solver.hh>
34
35		#include "hpp/corbaserver/manipulation/fwd.hh"
36		#include "hpp/corbaserver/manipulation/graph-idl.hh"
37
38		namespace hpp {
39		namespace manipulation {
40		namespace impl {
41		using CORBA::Long;
42		using hpp::corbaserver::manipulation::Namess_t;
43		using hpp::corbaserver::manipulation::Rules;
44
45		class Graph : public virtual POA_hpp::corbaserver::manipulation::Graph {
46		public:
47		Graph();
48	✗	void setServer(Server* server) { server_ = server; }
49
50		virtual Long createGraph(const char* graphName);
51
52		virtual void deleteGraph(const char* graphName);
53
54		virtual void selectGraph(const char* graphName);
55
56		virtual void createSubGraph(const char* subgraphName);
57
58		virtual void setTargetNodeList(const ID graphId, const hpp::IDseq& nodes);
59
60		virtual Long createNode(const Long subGraphId, const char* nodeName,
61		const bool waypoint, const Long priority);
62
63		virtual Long createEdge(const Long nodeFromId, const Long nodeToId,
64		const char* edgeName, const Long weight,
65		const Long isInNodeId);
66
67		virtual Long createWaypointEdge(const Long nodeFromId, const Long nodeToId,
68		const char* edgeBaseName, const Long number,
69		const Long weight, const Long isInNodeId);
70
71		virtual void setWaypoint(const ID waypointEdgeId, const Long index,
72		const ID edgeId, const ID nodeId);
73
74		virtual void getGraph(GraphComp_out graph, GraphElements_out elmts);
75
76		virtual void getEdgeStat(ID edgeId, Names_t_out reasons, intSeq_out freqs);
77
78		virtual Long getFrequencyOfNodeInRoadmap(
79		ID nodeId, intSeq_out freqPerConnectedComponent);
80
81		virtual bool getConfigProjectorStats(ID elmt, ConfigProjStat_out config,
82		ConfigProjStat_out path);
83
84		virtual Long getWaypoint(const Long edgeId, const Long index,
85		hpp::ID_out nodeId);
86
87		virtual Long createLevelSetEdge(const Long nodeFromId, const Long nodeToId,
88		const char* edgeName, const Long w,
89		const Long isInNodeId);
90
91		virtual void setContainingNode(const ID edgeId, const ID nodeId);
92
93		virtual char* getContainingNode(const ID edgeId);
94
95		virtual void addLevelSetFoliation(const Long edgeId,
96		const hpp::Names_t& condNC,
97		const hpp::Names_t& paramNC);
98
99	✗	virtual void setNumericalConstraints(const Long graphComponentId,
100		const hpp::Names_t& constraintNames) {
101	✗	addNumericalConstraints(graphComponentId, constraintNames);
102		}
103		virtual void addNumericalConstraints(const Long graphComponentId,
104		const hpp::Names_t& constraintNames);
105
106		virtual void getNumericalConstraints(const Long elmtId,
107		hpp::Names_t_out names);
108
109		virtual void resetConstraints(const Long graphComponentId);
110
111	✗	virtual void setNumericalConstraintsForPath(
112		const Long nodeId, const hpp::Names_t& constraintNames) {
113	✗	addNumericalConstraintsForPath(nodeId, constraintNames);
114		}
115		virtual void addNumericalConstraintsForPath(
116		const Long nodeId, const hpp::Names_t& constraintNames);
117
118		virtual void removeCollisionPairFromEdge(ID edgeId, const char* joint1,
119		const char* joint2);
120
121		virtual void getNode(const hpp::floatSeq& dofArray, ID_out output);
122
123		virtual bool applyNodeConstraints(hpp::ID id, const hpp::floatSeq& input,
124		hpp::floatSeq_out output,
125		double& residualError);
126
127		virtual bool applyEdgeLeafConstraints(hpp::ID IDedge,
128		const hpp::floatSeq& qleaf,
129		const hpp::floatSeq& input,
130		hpp::floatSeq_out output,
131		double& residualError);
132
133		virtual bool generateTargetConfig(hpp::ID IDedge, const hpp::floatSeq& qleaf,
134		const hpp::floatSeq& input,
135		hpp::floatSeq_out output,
136		double& residualError);
137
138		virtual CORBA::Boolean getConfigErrorForNode(ID nodeId,
139		const hpp::floatSeq& dofArray,
140		hpp::floatSeq_out error);
141
142		virtual CORBA::Boolean getConfigErrorForEdge(ID edgeId,
143		const hpp::floatSeq& dofArray,
144		hpp::floatSeq_out error);
145
146		virtual CORBA::Boolean getConfigErrorForEdgeLeaf(
147		ID edgeId, const hpp::floatSeq& leafDofArray,
148		const hpp::floatSeq& dofArray, hpp::floatSeq_out error);
149
150		virtual CORBA::Boolean getConfigErrorForEdgeTarget(
151		ID edgeId, const hpp::floatSeq& leafDofArray,
152		const hpp::floatSeq& dofArray, hpp::floatSeq_out error);
153
154		virtual void displayNodeConstraints(hpp::ID nodeId,
155		CORBA::String_out constraints);
156
157		virtual void displayEdgeConstraints(hpp::ID edgeId,
158		CORBA::String_out constraints);
159
160		virtual void displayEdgeTargetConstraints(hpp::ID edgeId,
161		CORBA::String_out constraints);
162
163		virtual void getNodesConnectedByEdge(hpp::ID edgeId, CORBA::String_out from,
164		CORBA::String_out to);
165
166		virtual void display(const char* filename);
167
168		virtual void getHistogramValue(ID edgeId, hpp::floatSeq_out freq,
169		hpp::floatSeqSeq_out values);
170
171		virtual void setShort(ID edgeId, CORBA::Boolean isShort);
172
173		virtual bool isShort(ID edgeId);
174
175		virtual Long autoBuild(const char* graphName, const Names_t& grippers,
176		const Names_t& objects,
177		const Namess_t& handlesPerObject,
178		const Namess_t& shapesPreObject,
179		const Names_t& envNames, const Rules& rulesList);
180
181		virtual void setWeight(ID edgeId, const Long weight);
182
183		virtual Long getWeight(ID edgeId);
184
185		virtual char* getName(ID elmtId);
186
187		virtual void initialize();
188
189		virtual void getRelativeMotionMatrix(ID edgeID, intSeqSeq_out matrix);
190		virtual void setSecurityMarginForEdge(ID edgeId, const char* joint1,
191		const char* joint2, double margin);
192		virtual void getSecurityMarginMatrixForEdge(ID edgeId,
193		floatSeqSeq_out matrix);
194
195		private:
196		template <typename T>
197		shared_ptr<T> getComp(ID id, bool throwIfWrongType = true);
198		ProblemSolverPtr_t problemSolver();
199		graph::GraphPtr_t graph(bool throwIfNull = true);
200		Server* server_;
201		}; // class Graph
202		} // namespace impl
203		} // namespace manipulation
204		} // namespace hpp
205
206		#endif // HPP_MANIPULATION_CORBA_GRAPH_IMPL_HH
207