GCC Code Coverage Report

Directory: ./
File: src/humanoid-robot.cc
Date: 2025-05-04 12:09:19
Exec Total Coverage
Lines: 36 64 56.2%
Branches: 22 72 30.6%
Line Branch Exec Source
1 //
2 // Copyright (c) 2016 CNRS
3 // Author: Joseph Mirabel from Florent Lamiraux
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/serialization/weak_ptr.hpp>
32 #include <hpp/pinocchio/humanoid-robot.hh>
33 #include <hpp/pinocchio/joint.hh>
34 #include <hpp/pinocchio/serialization.hh>
35 #include <hpp/util/serialization.hh>
36 #include <pinocchio/serialization/eigen.hpp>
37
38 namespace hpp {
39 namespace pinocchio {
40
41 2 HumanoidRobot::HumanoidRobot(const std::string& name)
42
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 2 : Device(name), weakPtr_(), gazeOrigin_(0, 0, 0), gazeDirection_(1, 0, 0) {}
43
44 // ========================================================================
45
46 ✗ HumanoidRobot::HumanoidRobot(const HumanoidRobot& other)
47 : Device(other),
48 ✗ weakPtr_(),
49 ✗ gazeOrigin_(other.gazeOrigin_),
50 ✗ gazeDirection_(other.gazeDirection_) {}
51
52 // ========================================================================
53
54 12 HumanoidRobot::~HumanoidRobot() {}
55
56 // ========================================================================
57
58 2 HumanoidRobotPtr_t HumanoidRobot::create(const std::string& name) {
59
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 2 HumanoidRobot* hppHumanoidRobot = new HumanoidRobot(name);
60 2 HumanoidRobotPtr_t hppHumanoidRobotPtr_t(hppHumanoidRobot);
61
62
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 2 hppHumanoidRobot->init(hppHumanoidRobotPtr_t);
63 2 return hppHumanoidRobotPtr_t;
64 }
65
66 // ========================================================================
67
68 ✗ DevicePtr_t HumanoidRobot::clone() const {
69 ✗ HumanoidRobot* ptr = new HumanoidRobot(*this);
70 ✗ HumanoidRobotPtr_t shPtr(ptr);
71 ✗ ptr->initCopy(shPtr, *this);
72 ✗ return shPtr;
73 }
74
75 // ========================================================================
76
77 2 void HumanoidRobot::init(const HumanoidRobotWkPtr_t& weakPtr) {
78
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 2 Device::init(weakPtr);
79 2 weakPtr_ = weakPtr;
80 2 }
81
82 // ========================================================================
83
84 ✗ void HumanoidRobot::initCopy(const HumanoidRobotWkPtr_t& weakPtr,
85 const HumanoidRobot& other) {
86 // Cannot call HumanoidRobot::init because Device::init would be called
87 // twice.
88 ✗ weakPtr_ = weakPtr;
89 ✗ Device::initCopy(weakPtr, other);
90 // TODO the HumanoidRobot will be never be deleted as these joints have
91 // a shared pointer to the device.
92 ✗ DevicePtr_t d = weakPtr_.lock();
93 ✗ waist_ = Joint::create(d, other.waist_->index());
94 ✗ chest_ = Joint::create(d, other.chest_->index());
95 ✗ leftWrist_ = Joint::create(d, other.leftWrist_->index());
96 ✗ rightWrist_ = Joint::create(d, other.rightWrist_->index());
97 ✗ leftAnkle_ = Joint::create(d, other.leftAnkle_->index());
98 ✗ rightAnkle_ = Joint::create(d, other.rightAnkle_->index());
99 ✗ gazeJoint_ = Joint::create(d, other.gazeJoint_->index());
100 }
101
102 // ========================================================================
103
104 /// \brief Get Joint corresponding to the waist.
105 ✗ JointPtr_t HumanoidRobot::waist() const { return waist_; }
106
107 /// Set waist joint
108 2 void HumanoidRobot::waist(const JointPtr_t& joint) { waist_ = joint; }
109
110 /// \brief Get Joint corresponding to the chest.
111 ✗ JointPtr_t HumanoidRobot::chest() const { return chest_; }
112
113 /// Set chest joint
114 ✗ void HumanoidRobot::chest(const JointPtr_t& joint) { chest_ = joint; }
115
116 /// \brief Get Joint corresponding to the left wrist.
117 ✗ JointPtr_t HumanoidRobot::leftWrist() const { return leftWrist_; }
118
119 /// Set left wrist
120 2 void HumanoidRobot::leftWrist(const JointPtr_t& joint) { leftWrist_ = joint; }
121
122 /// \brief Get Joint corresponding to the right wrist.
123 ✗ JointPtr_t HumanoidRobot::rightWrist() const { return rightWrist_; }
124
125 /// Set right wrist
126 2 void HumanoidRobot::rightWrist(const JointPtr_t& joint) { rightWrist_ = joint; }
127
128 /// \brief Get Joint corresponding to the left ankle.
129 ✗ JointPtr_t HumanoidRobot::leftAnkle() const { return leftAnkle_; }
130
131 /// Set letf ankle
132 2 void HumanoidRobot::leftAnkle(const JointPtr_t& joint) { leftAnkle_ = joint; }
133
134 /// \brief Get Joint corresponding to the right ankle.
135 ✗ JointPtr_t HumanoidRobot::rightAnkle() const { return rightAnkle_; }
136
137 /// Set right ankle
138 2 void HumanoidRobot::rightAnkle(const JointPtr_t& joint) { rightAnkle_ = joint; }
139
140 /// \brief Get gaze joint
141 ✗ JointPtr_t HumanoidRobot::gazeJoint() const { return gazeJoint_; }
142
143 /// Set gaze joint
144 2 void HumanoidRobot::gazeJoint(const JointPtr_t& joint) { gazeJoint_ = joint; }
145
146 template <class Archive>
147 4 void HumanoidRobot::serialize(Archive& ar, const unsigned int version) {
148 (void)version;
149 4 auto* har = hpp::serialization::cast(&ar);
150
151
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 4 ar& boost::serialization::make_nvp(
152
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 4 "base", boost::serialization::base_object<Device>(*this));
153 // TODO we should throw if a Device instance with name name_ and not of
154 // type HumanoidRobot is found.
155
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 8 bool written = (!har || har->template getChildClass<Device, HumanoidRobot>(
156
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 4 name_, false) != this);
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 4 ar& BOOST_SERIALIZATION_NVP(written);
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 4 if (written) {
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 4 ar& BOOST_SERIALIZATION_NVP(weakPtr_);
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 4 ar& BOOST_SERIALIZATION_NVP(waist_);
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 4 ar& BOOST_SERIALIZATION_NVP(chest_);
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 4 ar& BOOST_SERIALIZATION_NVP(leftWrist_);
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 4 ar& BOOST_SERIALIZATION_NVP(rightWrist_);
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 4 ar& BOOST_SERIALIZATION_NVP(leftAnkle_);
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 4 ar& BOOST_SERIALIZATION_NVP(rightAnkle_);
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 4 ar& BOOST_SERIALIZATION_NVP(gazeJoint_);
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 4 ar& BOOST_SERIALIZATION_NVP(gazeOrigin_);
168
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 4 ar& BOOST_SERIALIZATION_NVP(gazeDirection_);
169 }
170 }
171
172 HPP_SERIALIZATION_IMPLEMENT(HumanoidRobot);
173 } // namespace pinocchio
174 } // namespace hpp
175
176 BOOST_CLASS_EXPORT_IMPLEMENT(hpp::pinocchio::HumanoidRobot)
177