GCC Code Coverage Report

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			#ifndef HPP_PINOCCHIO_HUMANOID_ROBOT_HH
32			#define HPP_PINOCCHIO_HUMANOID_ROBOT_HH
33
34			#include <hpp/pinocchio/config.hh>
35			#include <hpp/pinocchio/device.hh>
36			#include <hpp/pinocchio/fwd.hh>
37			#include <iostream>
38			#include <vector>
39
40			namespace hpp {
41			namespace pinocchio {
42			/// \brief Humanoid robot
43
44			class HPP_PINOCCHIO_DLLAPI HumanoidRobot : public Device {
45			public:
46			/// \name Construction, copy and destruction
47			/// @{
48			virtual ~HumanoidRobot();
49
50			/// \brief Clone as a HumanoidRobot
51			virtual DevicePtr_t clone() const;
52
53		2	HumanoidRobotPtr_t self() const { return weakPtr_.lock(); }
54
55			///
56			/// @}
57			///
58
59			/// \brief Creation of a new device
60			/// \return a shared pointer to the new device
61			/// \param name Name of the device (is passed to CkkpDeviceComponent)
62			static HumanoidRobotPtr_t create(const std::string& name);
63
64			/// \brief Get Joint corresponding to the waist.
65			JointPtr_t waist() const;
66
67			/// Set waist joint
68			void waist(const JointPtr_t& joint);
69
70			/// \brief Get Joint corresponding to the chest.
71			JointPtr_t chest() const;
72
73			/// Set chest joint
74			void chest(const JointPtr_t& joint);
75
76			/// \brief Get Joint corresponding to the left wrist.
77			JointPtr_t leftWrist() const;
78
79			/// Set left wrist
80			void leftWrist(const JointPtr_t& joint);
81
82			/// \brief Get Joint corresponding to the right wrist.
83			JointPtr_t rightWrist() const;
84
85			/// Set right wrist
86			void rightWrist(const JointPtr_t& joint);
87
88			/// \brief Get Joint corresponding to the left ankle.
89			JointPtr_t leftAnkle() const;
90
91			/// Set letf ankle
92			void leftAnkle(const JointPtr_t& joint);
93
94			/// \brief Get Joint corresponding to the right ankle.
95			JointPtr_t rightAnkle() const;
96
97			/// Set right ankle
98			void rightAnkle(const JointPtr_t& joint);
99
100			/// \brief Get gaze joint
101			JointPtr_t gazeJoint() const;
102
103			/// Set gaze joint
104			void gazeJoint(const JointPtr_t& joint);
105
106			/// Set gaze parameters
107		2	void gaze(const vector3_t& origin, const vector3_t& dir) {
108		2	gazeOrigin_ = origin;
109		2	gazeDirection_ = dir;
110		2	}
111
112			protected:
113			/// \brief Constructor
114			HumanoidRobot(const std::string& name);
115
116			HumanoidRobot(const HumanoidRobot& other);
117
118			///
119			/// \brief Initialization.
120			///
121			void init(const HumanoidRobotWkPtr_t& weakPtr);
122
123			void initCopy(const HumanoidRobotWkPtr_t& weakPtr,
124			const HumanoidRobot& other);
125
126			/// For serialization only
127	2/4 ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	1	HumanoidRobot() {}
128
129			private:
130			HumanoidRobotWkPtr_t weakPtr_;
131			JointPtr_t waist_;
132			JointPtr_t chest_;
133			JointPtr_t leftWrist_;
134			JointPtr_t rightWrist_;
135			JointPtr_t leftAnkle_;
136			JointPtr_t rightAnkle_;
137			JointPtr_t gazeJoint_;
138			vector3_t gazeOrigin_;
139			vector3_t gazeDirection_;
140
141			HPP_SERIALIZABLE();
142			}; // class HumanoidRobot
143			} // namespace pinocchio
144			} // namespace hpp
145
146		8	BOOST_CLASS_EXPORT_KEY(hpp::pinocchio::HumanoidRobot)
147
148			#endif // HPP_PINOCCHIO_HUMANOID_ROBOT_HH
149