GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/cost-base.hxx
Date: 2025-05-13 10:30:51
Exec Total Coverage
Lines: 0 64 0.0%
Branches: 0 106 0.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 namespace crocoddyl {
11
12 template <typename Scalar>
13 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
14 std::shared_ptr<StateAbstract> state,
15 std::shared_ptr<ActivationModelAbstract> activation,
16 std::shared_ptr<ResidualModelAbstract> residual)
17 ✗ : state_(state),
18 ✗ activation_(activation),
19 ✗ residual_(residual),
20 ✗ nu_(residual->get_nu()),
21 ✗ unone_(VectorXs::Zero(residual->get_nu())) {
22 ✗ if (activation_->get_nr() != residual_->get_nr()) {
23 ✗ throw_pretty("Invalid argument: "
24 << "nr is equals to " + std::to_string(residual_->get_nr()));
25 }
26 }
27
28 template <typename Scalar>
29 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
30 std::shared_ptr<StateAbstract> state,
31 std::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu)
32 ✗ : state_(state),
33 ✗ activation_(activation),
34 ✗ residual_(std::make_shared<ResidualModelAbstractTpl<Scalar>>(
35 ✗ state, activation->get_nr(), nu)),
36 ✗ nu_(nu),
37 ✗ unone_(VectorXs::Zero(nu)) {}
38
39 template <typename Scalar>
40 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
41 std::shared_ptr<StateAbstract> state,
42 std::shared_ptr<ActivationModelAbstract> activation)
43 ✗ : state_(state),
44 ✗ activation_(activation),
45 ✗ residual_(std::make_shared<ResidualModelAbstractTpl<Scalar>>(
46 ✗ state, activation->get_nr())),
47 ✗ nu_(state->get_nv()),
48 ✗ unone_(VectorXs::Zero(state->get_nv())) {}
49
50 template <typename Scalar>
51 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
52 std::shared_ptr<StateAbstract> state,
53 std::shared_ptr<ResidualModelAbstract> residual)
54 ✗ : state_(state),
55 ✗ activation_(
56 ✗ std::make_shared<ActivationModelQuadTpl<Scalar>>(residual->get_nr())),
57 ✗ residual_(residual),
58 ✗ nu_(residual->get_nu()),
59 ✗ unone_(VectorXs::Zero(residual->get_nu())) {}
60
61 template <typename Scalar>
62 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
63 std::shared_ptr<StateAbstract> state, const std::size_t nr,
64 const std::size_t nu)
65 ✗ : state_(state),
66 ✗ activation_(std::make_shared<ActivationModelQuadTpl<Scalar>>(nr)),
67 ✗ residual_(std::make_shared<ResidualModelAbstract>(state, nr, nu)),
68 ✗ nu_(nu),
69 ✗ unone_(VectorXs::Zero(nu)) {}
70
71 template <typename Scalar>
72 ✗ CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
73 std::shared_ptr<StateAbstract> state, const std::size_t nr)
74 ✗ : state_(state),
75 ✗ activation_(std::make_shared<ActivationModelQuadTpl<Scalar>>(nr)),
76 ✗ residual_(std::make_shared<ResidualModelAbstract>(state, nr)),
77 ✗ nu_(state->get_nv()),
78 ✗ unone_(VectorXs::Zero(state->get_nv())) {}
79
80 template <typename Scalar>
81 ✗ void CostModelAbstractTpl<Scalar>::calc(
82 const std::shared_ptr<CostDataAbstract>& data,
83 const Eigen::Ref<const VectorXs>& x) {
84 ✗ calc(data, x, unone_);
85 }
86
87 template <typename Scalar>
88 ✗ void CostModelAbstractTpl<Scalar>::calcDiff(
89 const std::shared_ptr<CostDataAbstract>& data,
90 const Eigen::Ref<const VectorXs>& x) {
91 ✗ calcDiff(data, x, unone_);
92 }
93
94 template <typename Scalar>
95 std::shared_ptr<CostDataAbstractTpl<Scalar>>
96 ✗ CostModelAbstractTpl<Scalar>::createData(DataCollectorAbstract* const data) {
97 return std::allocate_shared<CostDataAbstract>(
98 ✗ Eigen::aligned_allocator<CostDataAbstract>(), this, data);
99 }
100
101 template <typename Scalar>
102 ✗ void CostModelAbstractTpl<Scalar>::print(std::ostream& os) const {
103 ✗ os << boost::core::demangle(typeid(*this).name());
104 }
105
106 template <typename Scalar>
107 const std::shared_ptr<StateAbstractTpl<Scalar>>&
108 ✗ CostModelAbstractTpl<Scalar>::get_state() const {
109 ✗ return state_;
110 }
111
112 template <typename Scalar>
113 const std::shared_ptr<ActivationModelAbstractTpl<Scalar>>&
114 ✗ CostModelAbstractTpl<Scalar>::get_activation() const {
115 ✗ return activation_;
116 }
117
118 template <typename Scalar>
119 const std::shared_ptr<ResidualModelAbstractTpl<Scalar>>&
120 ✗ CostModelAbstractTpl<Scalar>::get_residual() const {
121 ✗ return residual_;
122 }
123
124 template <typename Scalar>
125 ✗ std::size_t CostModelAbstractTpl<Scalar>::get_nu() const {
126 ✗ return nu_;
127 }
128
129 template <typename Scalar>
130 template <class ReferenceType>
131 void CostModelAbstractTpl<Scalar>::set_reference(ReferenceType ref) {
132 set_referenceImpl(typeid(ref), &ref);
133 }
134
135 template <typename Scalar>
136 ✗ void CostModelAbstractTpl<Scalar>::set_referenceImpl(const std::type_info&,
137 const void*) {
138 ✗ throw_pretty("It has not been implemented the set_referenceImpl() function");
139 }
140
141 template <typename Scalar>
142 template <class ReferenceType>
143 ReferenceType CostModelAbstractTpl<Scalar>::get_reference() {
144 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has
145 // been removed in a future release
146 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
147 ReferenceType ref;
148 get_referenceImpl(typeid(ref), &ref);
149 return ref;
150 #pragma GCC diagnostic pop
151 }
152
153 template <typename Scalar>
154 ✗ void CostModelAbstractTpl<Scalar>::get_referenceImpl(const std::type_info&,
155 void*) {
156 ✗ throw_pretty("It has not been implemented the set_referenceImpl() function");
157 }
158
159 template <class Scalar>
160 ✗ std::ostream& operator<<(std::ostream& os,
161 const CostModelAbstractTpl<Scalar>& model) {
162 ✗ model.print(os);
163 ✗ return os;
164 }
165
166 } // namespace crocoddyl
167