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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/srdf/factories/position.cc	Lines:	43	45	95.6 %
Date:	2024-05-05 11:05:40	Branches:	72	142	50.7 %


// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. 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.
//
// 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
// HOLDER 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/manipulation/srdf/factories/position.hh"

#include <hpp/util/debug.hh>
#include <pinocchio/spatial/se3.hpp>

namespace hpp {
namespace manipulation {
namespace srdf {
typedef Eigen::Quaternion<value_type> Quaternion_t;

void PositionFactory::finishTags() {
  if (values().size() != 0)
    computeTransformFromText();
  else
    computeTransformFromAttributes();
}

void PositionFactory::computeTransformFromText() {
  const std::vector<float>& v = values();
  Quaternion_t q(v[3], v[4], v[5], v[6]);  // w, x, y, z
  if (std::fabs(1 - q.squaredNorm()) < 1e-4) {
    hppDout(warning, "Quaternion is not normalized.");
  }
  q.normalize();
  position_ = Transform3f(q.matrix(), vector3_t(v[0], v[1], v[2]));
}

void PositionFactory::computeTransformFromAttributes() {
  vector3_t xyz(0, 0, 0);
  if (hasAttribute("xyz")) parser::readSequence(getAttribute("xyz"), xyz, 3);

  bool a_rpy = hasAttribute("rpy");
  bool a_wxyz = hasAttribute("wxyz");
  bool a_xyzw = hasAttribute("xyzw");
  if ((int)a_rpy + (int)a_wxyz + (int)a_xyzw > 1)
    throw std::invalid_argument("Tag " + tagName() +
                                " must have only one of rpy, wxyz, xyzw");

  matrix3_t R(matrix3_t::Identity());
  if (a_rpy) {
    vector3_t rpy;
    parser::readSequence(getAttribute("rpy"), rpy, 3);

    typedef Eigen::AngleAxis<value_type> AngleAxis;
    R = AngleAxis(rpy[2], vector3_t::UnitZ()) *
        AngleAxis(rpy[1], vector3_t::UnitY()) *
        AngleAxis(rpy[0], vector3_t::UnitX());
  } else if (a_wxyz || a_xyzw) {
    Quaternion_t q;

    if (a_wxyz) {
      vector_t wxyz(4);
      parser::readSequence(getAttribute("wxyz"), wxyz, 4);
      q.w() = wxyz[0];
      q.vec() = wxyz.tail<3>();
    } else if (a_xyzw) {
      vector_t xyzw(4);
      parser::readSequence(getAttribute("xyzw"), xyzw, 4);
      q.w() = xyzw[3];
      q.vec() = xyzw.head<3>();
    }

    if (std::fabs(1 - q.squaredNorm()) < 1e-4) {
      hppDout(warning, "Quaternion is not normalized.");
    }
    q.normalize();

    R = q.matrix();
  }

  position_ = Transform3f(R, xyz);
}
}  // namespace srdf
}  // namespace manipulation
}  // namespace hpp


Generated by: GCOVR (Version 4.2)

Line	Branch	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			#include "hpp/manipulation/srdf/factories/position.hh"
30
31			#include <hpp/util/debug.hh>
32			#include <pinocchio/spatial/se3.hpp>
33
34			namespace hpp {
35			namespace manipulation {
36			namespace srdf {
37			typedef Eigen::Quaternion<value_type> Quaternion_t;
38
39		7	void PositionFactory::finishTags() {
40	✓✓	7	if (values().size() != 0)
41		3	computeTransformFromText();
42			else
43		4	computeTransformFromAttributes();
44		7	}
45
46		3	void PositionFactory::computeTransformFromText() {
47		3	const std::vector<float>& v = values();
48	✓✗	3	Quaternion_t q(v[3], v[4], v[5], v[6]); // w, x, y, z
49	✓✗	3	if (std::fabs(1 - q.squaredNorm()) < 1e-4) {
50			hppDout(warning, "Quaternion is not normalized.");
51			}
52	✓✗	3	q.normalize();
53	✓✗✓✗ ✓✗	3	position_ = Transform3f(q.matrix(), vector3_t(v[0], v[1], v[2]));
54		3	}
55
56		4	void PositionFactory::computeTransformFromAttributes() {
57	✓✗	4	vector3_t xyz(0, 0, 0);
58	✓✗✓✗ ✓✗✓✗ ✓✗✓✗	4	if (hasAttribute("xyz")) parser::readSequence(getAttribute("xyz"), xyz, 3);
59
60	✓✗✓✗	4	bool a_rpy = hasAttribute("rpy");
61	✓✗✓✗	4	bool a_wxyz = hasAttribute("wxyz");
62	✓✗✓✗	4	bool a_xyzw = hasAttribute("xyzw");
63	✗✓	4	if ((int)a_rpy + (int)a_wxyz + (int)a_xyzw > 1)
64			throw std::invalid_argument("Tag " + tagName() +
65			" must have only one of rpy, wxyz, xyzw");
66
67	✓✗✓✗	4	matrix3_t R(matrix3_t::Identity());
68	✓✓	4	if (a_rpy) {
69	✓✗	1	vector3_t rpy;
70	✓✗✓✗ ✓✗	1	parser::readSequence(getAttribute("rpy"), rpy, 3);
71
72			typedef Eigen::AngleAxis<value_type> AngleAxis;
73	✓✗✓✗ ✓✗✓✗	1	R = AngleAxis(rpy[2], vector3_t::UnitZ()) *
74	✓✗✓✗ ✓✗✓✗	2	AngleAxis(rpy[1], vector3_t::UnitY()) *
75	✓✗✓✗ ✓✗✓✗	2	AngleAxis(rpy[0], vector3_t::UnitX());
76	✓✓✓✓	3	} else if (a_wxyz \|\| a_xyzw) {
77	✓✗	2	Quaternion_t q;
78
79	✓✓	2	if (a_wxyz) {
80	✓✗	1	vector_t wxyz(4);
81	✓✗✓✗ ✓✗	1	parser::readSequence(getAttribute("wxyz"), wxyz, 4);
82	✓✗✓✗	1	q.w() = wxyz[0];
83	✓✗✓✗ ✓✗	1	q.vec() = wxyz.tail<3>();
84	✓✗	1	} else if (a_xyzw) {
85	✓✗	1	vector_t xyzw(4);
86	✓✗✓✗ ✓✗	1	parser::readSequence(getAttribute("xyzw"), xyzw, 4);
87	✓✗✓✗	1	q.w() = xyzw[3];
88	✓✗✓✗ ✓✗	1	q.vec() = xyzw.head<3>();
89			}
90
91	✓✗	2	if (std::fabs(1 - q.squaredNorm()) < 1e-4) {
92			hppDout(warning, "Quaternion is not normalized.");
93			}
94	✓✗	2	q.normalize();
95
96	✓✗	2	R = q.matrix();
97			}
98
99	✓✗	4	position_ = Transform3f(R, xyz);
100		4	}
101			} // namespace srdf
102			} // namespace manipulation
103			} // namespace hpp