GCC Code Coverage Report

Directory: src/
File: src/graph.impl.hh
Date: 2025-05-06 11:09:35
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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