| Directory: | ./ |
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| File: | src/constraint-set.cc |
| Date: | 2025-03-07 11:10:46 |
| Exec | Total | Coverage | |
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| Lines: | 12 | 29 | 41.4% |
| Branches: | 3 | 22 | 13.6% |
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| 1 | // Copyright (c) 2015, Joseph Mirabel | ||
| 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/constraint-set.hh" | ||
| 30 | |||
| 31 | #include <hpp/util/serialization.hh> | ||
| 32 | |||
| 33 | #include "hpp/manipulation/device.hh" | ||
| 34 | #include "hpp/manipulation/graph/edge.hh" | ||
| 35 | #include "hpp/manipulation/serialization.hh" | ||
| 36 | |||
| 37 | namespace hpp { | ||
| 38 | namespace manipulation { | ||
| 39 | 20 | ConstraintSetPtr_t ConstraintSet::create(const DevicePtr_t& robot, | |
| 40 | const std::string& name) { | ||
| 41 |
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20 | ConstraintSet* ptr = new ConstraintSet(robot, name); |
| 42 | 20 | ConstraintSetPtr_t shPtr(ptr); | |
| 43 |
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20 | ptr->init(shPtr); |
| 44 | 20 | return shPtr; | |
| 45 | } | ||
| 46 | |||
| 47 | ✗ | ConstraintSetPtr_t ConstraintSet::createCopy(const ConstraintSetPtr_t& cs) { | |
| 48 | ✗ | ConstraintSet* ptr = new ConstraintSet(*cs); | |
| 49 | ✗ | ConstraintSetPtr_t shPtr(ptr); | |
| 50 | ✗ | ptr->init(shPtr); | |
| 51 | ✗ | return shPtr; | |
| 52 | } | ||
| 53 | |||
| 54 | ✗ | ConstraintPtr_t ConstraintSet::copy() const { return createCopy(weak_.lock()); } | |
| 55 | |||
| 56 | 16 | void ConstraintSet::edge(graph::EdgePtr_t edge) { edge_ = edge; } | |
| 57 | |||
| 58 | ✗ | graph::EdgePtr_t ConstraintSet::edge() const { return edge_; } | |
| 59 | |||
| 60 | 20 | ConstraintSet::ConstraintSet(const DevicePtr_t& robot, const std::string& name) | |
| 61 |
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20 | : Parent_t(robot, name), edge_() {} |
| 62 | |||
| 63 | ✗ | ConstraintSet::ConstraintSet(const ConstraintSet& other) | |
| 64 | ✗ | : Parent_t(other), edge_(other.edge()) {} | |
| 65 | |||
| 66 | 20 | void ConstraintSet::init(const ConstraintSetPtr_t& self) { | |
| 67 | 20 | Parent_t::init(self); | |
| 68 | 20 | weak_ = self; | |
| 69 | 20 | } | |
| 70 | |||
| 71 | ✗ | std::ostream& ConstraintSet::print(std::ostream& os) const { | |
| 72 | ✗ | Parent_t::print(os); | |
| 73 | ✗ | if (edge_) os << iendl << "Built by edge " << edge_->name(); | |
| 74 | ✗ | return os; | |
| 75 | } | ||
| 76 | |||
| 77 | template <class Archive> | ||
| 78 | ✗ | void ConstraintSet::serialize(Archive& ar, const unsigned int version) { | |
| 79 | using namespace boost::serialization; | ||
| 80 | (void)version; | ||
| 81 | ✗ | ar& make_nvp("base", base_object<core::ConstraintSet>(*this)); | |
| 82 | ✗ | ar& BOOST_SERIALIZATION_NVP(edge_); | |
| 83 | ✗ | ar& BOOST_SERIALIZATION_NVP(weak_); | |
| 84 | } | ||
| 85 | |||
| 86 | HPP_SERIALIZATION_IMPLEMENT(ConstraintSet); | ||
| 87 | } // namespace manipulation | ||
| 88 | } // namespace hpp | ||
| 89 | |||
| 90 | BOOST_CLASS_EXPORT_IMPLEMENT(hpp::manipulation::ConstraintSet) | ||
| 91 |