GCC Code Coverage Report

Directory: ./
File: include/hpp/manipulation/graph/graph-component.hh
Date: 2025-03-07 11:10:46
Exec Total Coverage
Lines: 5 6 83.3%
Branches: 1 2 50.0%
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 #ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
30 #define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
31
32 #include <ostream>
33 #include <string>
34
35 #include "hpp/manipulation/config.hh"
36 #include "hpp/manipulation/deprecated.hh"
37 #include "hpp/manipulation/fwd.hh"
38 #include "hpp/manipulation/graph/dot.hh"
39 #include "hpp/manipulation/graph/fwd.hh"
40
41 namespace hpp {
42 namespace manipulation {
43 typedef constraints::ImplicitPtr_t ImplicitPtr_t;
44 namespace graph {
45 /// \defgroup constraint_graph Constraint Graph
46
47 /// \addtogroup constraint_graph
48 /// \{
49
50 /// Define common methods of the graph components.
51 class HPP_MANIPULATION_DLLAPI GraphComponent {
52 public:
53 4 virtual ~GraphComponent() {};
54
55 /// Get the component name.
56 const std::string& name() const;
57
58 /// Return the component id.
59 ✗ const std::size_t& id() const { return id_; }
60
61 /// Add constraint to the component.
62 virtual void addNumericalConstraint(const ImplicitPtr_t& numConstraint);
63
64 /// Add a cost function Implicit to the component.
65 virtual void addNumericalCost(const ImplicitPtr_t& numCost);
66
67 /// Reset the numerical constraints stored in the component.
68 virtual void resetNumericalConstraints();
69
70 /// Insert the numerical constraints in a ConfigProjector
71 /// \return true is at least one ImplicitPtr_t was inserted.
72 bool insertNumericalConstraints(ConfigProjectorPtr_t& proj) const;
73
74 /// Get a reference to the NumericalConstraints_t
75 const NumericalConstraints_t& numericalConstraints() const;
76
77 /// Get a reference to the NumericalConstraints_t
78 const NumericalConstraints_t& numericalCosts() const;
79
80 /// Set the parent graph.
81 void parentGraph(const GraphWkPtr_t& parent);
82
83 /// Set the parent graph.
84 GraphPtr_t parentGraph() const;
85
86 /// Print the component in DOT language.
87 virtual std::ostream& dotPrint(
88 std::ostream& os,
89 dot::DrawingAttributes da = dot::DrawingAttributes()) const;
90
91 /// Invalidate the component
92 /// The component needs to be initialized again.
93 6 virtual void invalidate() { isInit_ = false; }
94
95 /// Set whether hierachical constraints are solved level by level
96 /// \sa hpp::constraints::solver::HierarchicalIterative
97 void solveLevelByLevel(bool solveLevelByLevel) {
98 solveLevelByLevel_ = solveLevelByLevel;
99 }
100
101 /// Get whether hierachical constraints are solved level by level
102 /// \sa hpp::constraints::solver::HierarchicalIterative
103 20 bool solveLevelByLevel() const { return solveLevelByLevel_; }
104
105 protected:
106 /// Initialize the component
107 void init(const GraphComponentWkPtr_t& weak);
108
109 14 GraphComponent(const std::string& name)
110
1/2
✓ Branch 4 taken 14 times.
✗ Branch 5 not taken.
 14 : isInit_(false), name_(name), id_(-1), solveLevelByLevel_(false) {}
111
112 /// Stores the numerical constraints.
113 NumericalConstraints_t numericalConstraints_;
114 /// Stores the numerical costs.
115 NumericalConstraints_t numericalCosts_;
116 /// A weak pointer to the parent graph.
117 GraphWkPtr_t graph_;
118
119 bool isInit_;
120
121 void throwIfNotInitialized() const;
122
123 /// Print the object in a stream.
124 virtual std::ostream& print(std::ostream& os) const;
125 friend std::ostream& operator<<(std::ostream&, const GraphComponent&);
126
127 /// Populate DrawingAttributes tooltip
128 virtual void populateTooltip(dot::Tooltip& tp) const;
129
130 virtual void initialize() = 0;
131
132 private:
133 /// Name of the component.
134 std::string name_;
135 /// Weak pointer to itself.
136 GraphComponentWkPtr_t wkPtr_;
137 /// ID of the component (index in components vector).
138 std::size_t id_;
139 /// Whether the constraints are solved level by level
140 bool solveLevelByLevel_;
141 friend class Graph;
142 };
143
144 std::ostream& operator<<(std::ostream& os, const GraphComponent& graphComp);
145
146 /// \}
147 } // namespace graph
148 } // namespace manipulation
149
150 } // namespace hpp
151
152 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
153