| Directory: | ./ |
|---|---|
| File: | src/body.cc |
| Date: | 2025-05-04 12:09:19 |
| Exec | Total | Coverage | |
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| Lines: | 19 | 68 | 27.9% |
| Branches: | 12 | 114 | 10.5% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016 CNRS | ||
| 3 | // Author: NMansard | ||
| 4 | // | ||
| 5 | // | ||
| 6 | |||
| 7 | // Redistribution and use in source and binary forms, with or without | ||
| 8 | // modification, are permitted provided that the following conditions are | ||
| 9 | // met: | ||
| 10 | // | ||
| 11 | // 1. Redistributions of source code must retain the above copyright | ||
| 12 | // notice, this list of conditions and the following disclaimer. | ||
| 13 | // | ||
| 14 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 15 | // notice, this list of conditions and the following disclaimer in the | ||
| 16 | // documentation and/or other materials provided with the distribution. | ||
| 17 | // | ||
| 18 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 19 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 20 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 21 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 22 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 23 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 24 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 25 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 26 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 27 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 28 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 29 | // DAMAGE. | ||
| 30 | |||
| 31 | #include <boost/foreach.hpp> | ||
| 32 | #include <hpp/pinocchio/body.hh> | ||
| 33 | #include <hpp/pinocchio/collision-object.hh> | ||
| 34 | #include <hpp/pinocchio/device.hh> | ||
| 35 | #include <hpp/pinocchio/joint-collection.hh> | ||
| 36 | #include <hpp/pinocchio/joint.hh> | ||
| 37 | #include <pinocchio/multibody/geometry.hpp> | ||
| 38 | #include <pinocchio/multibody/model.hpp> | ||
| 39 | #include <pinocchio/spatial/fcl-pinocchio-conversions.hpp> | ||
| 40 | |||
| 41 | namespace hpp { | ||
| 42 | namespace pinocchio { | ||
| 43 | |||
| 44 | 81 | Body::Body(DeviceWkPtr_t device, JointIndex joint) | |
| 45 | 81 | : devicePtr(device), jointIndex(joint), frameIndexSet(false) { | |
| 46 |
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81 | selfAssert(); |
| 47 | 81 | } | |
| 48 | |||
| 49 | 162 | void Body::selfAssert() const { | |
| 50 | 162 | DevicePtr_t device = devicePtr.lock(); | |
| 51 |
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162 | assert(device); |
| 52 |
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162 | assert(device->modelPtr()); |
| 53 |
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162 | assert(device->model().joints.size() > std::size_t(jointIndex)); |
| 54 |
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162 | if (frameIndexSet) |
| 55 | ✗ | assert(device->model().frames.size() > std::size_t(frameIndex)); | |
| 56 | 162 | } | |
| 57 | |||
| 58 | 81 | const Model& Body::model() const { return devicePtr.lock()->model(); } | |
| 59 | ✗ | Model& Body::model() { return devicePtr.lock()->model(); } | |
| 60 | ✗ | ::pinocchio::Frame& Body::frame() { | |
| 61 | ✗ | searchFrameIndex(); | |
| 62 | ✗ | return model().frames[frameIndex]; | |
| 63 | } | ||
| 64 | ✗ | const ::pinocchio::Frame& Body::frame() const { | |
| 65 | ✗ | searchFrameIndex(); | |
| 66 | ✗ | return model().frames[frameIndex]; | |
| 67 | } | ||
| 68 | |||
| 69 | ✗ | void Body::searchFrameIndex() const { | |
| 70 | ✗ | if (frameIndexSet) return; | |
| 71 | ✗ | frameIndex = 0; | |
| 72 | ✗ | BOOST_FOREACH (const ::pinocchio::Frame& frame, model().frames) { | |
| 73 | ✗ | if ((::pinocchio::BODY == frame.type) && (frame.parent == jointIndex)) | |
| 74 | ✗ | break; | |
| 75 | ✗ | frameIndex++; | |
| 76 | } | ||
| 77 | // If index not find, then it is set to size() -> normal behavior | ||
| 78 | ✗ | frameIndexSet = true; | |
| 79 | } | ||
| 80 | |||
| 81 | ✗ | const std::string& Body::name() const { | |
| 82 | ✗ | selfAssert(); | |
| 83 | ✗ | return frame().name; | |
| 84 | } | ||
| 85 | |||
| 86 | ✗ | JointPtr_t Body::joint() const { | |
| 87 | ✗ | selfAssert(); | |
| 88 | ✗ | return Joint::create(devicePtr, jointIndex); | |
| 89 | } | ||
| 90 | |||
| 91 | ✗ | const vector3_t& Body::localCenterOfMass() const { | |
| 92 | ✗ | selfAssert(); | |
| 93 | ✗ | return model().inertias[jointIndex].lever(); | |
| 94 | } | ||
| 95 | ✗ | matrix3_t Body::inertiaMatrix() const { | |
| 96 | ✗ | selfAssert(); | |
| 97 | ✗ | return model().inertias[jointIndex].inertia(); | |
| 98 | } | ||
| 99 | ✗ | value_type Body::mass() const { | |
| 100 | ✗ | selfAssert(); | |
| 101 | ✗ | return model().inertias[jointIndex].mass(); | |
| 102 | } | ||
| 103 | |||
| 104 | ✗ | size_type Body::nbInnerObjects() const { | |
| 105 | ✗ | selfAssert(); | |
| 106 | ✗ | DevicePtr_t device = devicePtr.lock(); | |
| 107 | ✗ | return (size_type)device->geomData().innerObjects[jointIndex].size(); | |
| 108 | } | ||
| 109 | |||
| 110 | ✗ | CollisionObjectPtr_t Body::innerObjectAt(const size_type& i) const { | |
| 111 | ✗ | selfAssert(); | |
| 112 | ✗ | assert(0 <= i && i < nbInnerObjects()); | |
| 113 | ✗ | DevicePtr_t device = devicePtr.lock(); | |
| 114 | return CollisionObjectPtr_t(new CollisionObject( | ||
| 115 | ✗ | device, device->geomData().innerObjects[jointIndex][(std::size_t)i])); | |
| 116 | } | ||
| 117 | |||
| 118 | 81 | value_type Body::radius() const { | |
| 119 |
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81 | selfAssert(); |
| 120 | 81 | DevicePtr_t device = devicePtr.lock(); | |
| 121 |
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81 | assert(device->geomDataPtr()); |
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81 | assert(std::size_t(device->geomData().radius.size()) == |
| 123 | model().joints.size()); | ||
| 124 |
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162 | return device->geomData().radius[jointIndex]; |
| 125 | 81 | } | |
| 126 | |||
| 127 | ✗ | size_type Body::nbOuterObjects() const { | |
| 128 | ✗ | selfAssert(); | |
| 129 | ✗ | DevicePtr_t device = devicePtr.lock(); | |
| 130 | ✗ | return (size_type)device->geomData().outerObjects[jointIndex].size(); | |
| 131 | } | ||
| 132 | |||
| 133 | ✗ | CollisionObjectPtr_t Body::outerObjectAt(const size_type& i) const { | |
| 134 | ✗ | selfAssert(); | |
| 135 | ✗ | assert(0 <= i && i < nbOuterObjects()); | |
| 136 | ✗ | DevicePtr_t device = devicePtr.lock(); | |
| 137 | return CollisionObjectPtr_t(new CollisionObject( | ||
| 138 | ✗ | device, device->geomData().outerObjects[jointIndex][(std::size_t)i])); | |
| 139 | } | ||
| 140 | } // namespace pinocchio | ||
| 141 | } // namespace hpp | ||
| 142 |