| Directory: | ./ |
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| File: | src/graph/graph-component.cc |
| Date: | 2025-03-07 11:10:46 |
| Exec | Total | Coverage | |
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| Lines: | 26 | 46 | 56.5% |
| Branches: | 9 | 26 | 34.6% |
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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 | #include "hpp/manipulation/graph/graph-component.hh" | ||
| 30 | |||
| 31 | #include <hpp/constraints/differentiable-function.hh> | ||
| 32 | #include <hpp/constraints/implicit.hh> | ||
| 33 | #include <hpp/core/config-projector.hh> | ||
| 34 | #include <hpp/core/constraint-set.hh> | ||
| 35 | |||
| 36 | #include "hpp/manipulation/graph/graph.hh" | ||
| 37 | |||
| 38 | namespace hpp { | ||
| 39 | namespace manipulation { | ||
| 40 | namespace graph { | ||
| 41 | typedef constraints::Implicit Implicit; | ||
| 42 | 20 | const std::string& GraphComponent::name() const { return name_; } | |
| 43 | |||
| 44 | ✗ | std::ostream& GraphComponent::print(std::ostream& os) const { | |
| 45 | ✗ | os << id() << " : " << name(); | |
| 46 | ✗ | return os; | |
| 47 | } | ||
| 48 | |||
| 49 | ✗ | std::ostream& GraphComponent::dotPrint(std::ostream& os, | |
| 50 | dot::DrawingAttributes) const { | ||
| 51 | ✗ | os << id(); | |
| 52 | ✗ | return os; | |
| 53 | } | ||
| 54 | |||
| 55 | 1 | void GraphComponent::addNumericalConstraint(const ImplicitPtr_t& nm) { | |
| 56 | 1 | invalidate(); | |
| 57 | 1 | numericalConstraints_.push_back(nm); | |
| 58 | 1 | } | |
| 59 | |||
| 60 | ✗ | void GraphComponent::addNumericalCost(const ImplicitPtr_t& cost) { | |
| 61 | ✗ | invalidate(); | |
| 62 | ✗ | numericalCosts_.push_back(cost); | |
| 63 | } | ||
| 64 | |||
| 65 | ✗ | void GraphComponent::resetNumericalConstraints() { | |
| 66 | ✗ | invalidate(); | |
| 67 | ✗ | numericalConstraints_.clear(); | |
| 68 | ✗ | numericalCosts_.clear(); | |
| 69 | } | ||
| 70 | |||
| 71 | 8 | bool GraphComponent::insertNumericalConstraints( | |
| 72 | ConfigProjectorPtr_t& proj) const { | ||
| 73 |
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8 | for (const auto& nc : numericalConstraints_) proj->add(nc); |
| 74 |
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8 | for (const auto& nc : numericalCosts_) proj->add(nc, 1); |
| 75 | 8 | return !numericalConstraints_.empty(); | |
| 76 | } | ||
| 77 | |||
| 78 | 96 | const NumericalConstraints_t& GraphComponent::numericalConstraints() const { | |
| 79 | 96 | return numericalConstraints_; | |
| 80 | } | ||
| 81 | |||
| 82 | 96 | const NumericalConstraints_t& GraphComponent::numericalCosts() const { | |
| 83 | 96 | return numericalCosts_; | |
| 84 | } | ||
| 85 | |||
| 86 | 16 | GraphPtr_t GraphComponent::parentGraph() const { return graph_.lock(); } | |
| 87 | |||
| 88 | 14 | void GraphComponent::parentGraph(const GraphWkPtr_t& parent) { | |
| 89 | 14 | graph_ = parent; | |
| 90 | 14 | GraphPtr_t g = graph_.lock(); | |
| 91 |
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14 | assert(g); |
| 92 |
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14 | id_ = g->components().size(); |
| 93 |
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14 | g->components().push_back(wkPtr_); |
| 94 | 14 | } | |
| 95 | |||
| 96 | 14 | void GraphComponent::init(const GraphComponentWkPtr_t& weak) { wkPtr_ = weak; } | |
| 97 | |||
| 98 | 5 | void GraphComponent::throwIfNotInitialized() const { | |
| 99 |
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5 | if (!isInit_) { |
| 100 |
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4 | throw std::logic_error("The graph should have been initialized first."); |
| 101 | } | ||
| 102 | 1 | } | |
| 103 | |||
| 104 | ✗ | std::ostream& operator<<( | |
| 105 | std::ostream& os, | ||
| 106 | const hpp::manipulation::graph::GraphComponent& graphComp) { | ||
| 107 | ✗ | return graphComp.print(os); | |
| 108 | } | ||
| 109 | |||
| 110 | ✗ | void GraphComponent::populateTooltip(dot::Tooltip& tp) const { | |
| 111 | ✗ | for (NumericalConstraints_t::const_iterator it = | |
| 112 | ✗ | numericalConstraints_.begin(); | |
| 113 | ✗ | it != numericalConstraints_.end(); ++it) { | |
| 114 | ✗ | tp.addLine("- " + (*it)->function().name()); | |
| 115 | } | ||
| 116 | } | ||
| 117 | } // namespace graph | ||
| 118 | } // namespace manipulation | ||
| 119 | } // namespace hpp | ||
| 120 |