GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/cost-base.hxx
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 42 65 64.6%
Branches: 13 78 16.7%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include <boost/core/demangle.hpp>
10
11 namespace crocoddyl {
12
13 template <typename Scalar>
14 5372 CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
15 std::shared_ptr<StateAbstract> state,
16 std::shared_ptr<ActivationModelAbstract> activation,
17 std::shared_ptr<ResidualModelAbstract> residual)
18 5372 : state_(state),
19 5372 activation_(activation),
20 5372 residual_(residual),
21 5372 nu_(residual->get_nu()),
22
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 10744 unone_(VectorXs::Zero(residual->get_nu())) {
23
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 5372 if (activation_->get_nr() != residual_->get_nr()) {
24 ✗ throw_pretty("Invalid argument: "
25 << "nr is equals to " + std::to_string(residual_->get_nr()));
26 }
27 5372 }
28
29 template <typename Scalar>
30 653 CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
31 std::shared_ptr<StateAbstract> state,
32 std::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu)
33 653 : state_(state),
34 653 activation_(activation),
35 653 residual_(std::make_shared<ResidualModelAbstract>(
36
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 653 state, activation->get_nr(), nu)),
37 653 nu_(nu),
38
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 1306 unone_(VectorXs::Zero(nu)) {}
39
40 template <typename Scalar>
41 6 CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
42 std::shared_ptr<StateAbstract> state,
43 std::shared_ptr<ActivationModelAbstract> activation)
44 6 : state_(state),
45 6 activation_(activation),
46 6 residual_(
47
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 6 std::make_shared<ResidualModelAbstract>(state, activation->get_nr())),
48 6 nu_(state->get_nv()),
49
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 12 unone_(VectorXs::Zero(state->get_nv())) {}
50
51 template <typename Scalar>
52 1673 CostModelAbstractTpl<Scalar>::CostModelAbstractTpl(
53 std::shared_ptr<StateAbstract> state,
54 std::shared_ptr<ResidualModelAbstract> residual)
55 1673 : state_(state),
56
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 1673 activation_(std::make_shared<ActivationModelQuad>(residual->get_nr())),
57 1673 residual_(residual),
58 1673 nu_(residual->get_nu()),
59
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 3346 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<ActivationModelQuad>(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<ActivationModelQuad>(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 15412 CostModelAbstractTpl<Scalar>::~CostModelAbstractTpl() {}
82
83 template <typename Scalar>
84 ✗ void CostModelAbstractTpl<Scalar>::calc(
85 const std::shared_ptr<CostDataAbstract>& data,
86 const Eigen::Ref<const VectorXs>& x) {
87 ✗ calc(data, x, unone_);
88 }
89
90 template <typename Scalar>
91 ✗ void CostModelAbstractTpl<Scalar>::calcDiff(
92 const std::shared_ptr<CostDataAbstract>& data,
93 const Eigen::Ref<const VectorXs>& x) {
94 ✗ calcDiff(data, x, unone_);
95 }
96
97 template <typename Scalar>
98 std::shared_ptr<CostDataAbstractTpl<Scalar> >
99 15 CostModelAbstractTpl<Scalar>::createData(DataCollectorAbstract* const data) {
100 return std::allocate_shared<CostDataAbstract>(
101
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 30 Eigen::aligned_allocator<CostDataAbstract>(), this, data);
102 }
103
104 template <typename Scalar>
105 ✗ void CostModelAbstractTpl<Scalar>::print(std::ostream& os) const {
106 ✗ os << boost::core::demangle(typeid(*this).name());
107 }
108
109 template <typename Scalar>
110 const std::shared_ptr<StateAbstractTpl<Scalar> >&
111 1943275 CostModelAbstractTpl<Scalar>::get_state() const {
112 1943275 return state_;
113 }
114
115 template <typename Scalar>
116 const std::shared_ptr<ActivationModelAbstractTpl<Scalar> >&
117 492338 CostModelAbstractTpl<Scalar>::get_activation() const {
118 492338 return activation_;
119 }
120
121 template <typename Scalar>
122 const std::shared_ptr<ResidualModelAbstractTpl<Scalar> >&
123 477383 CostModelAbstractTpl<Scalar>::get_residual() const {
124 477383 return residual_;
125 }
126
127 template <typename Scalar>
128 1927433 std::size_t CostModelAbstractTpl<Scalar>::get_nu() const {
129 1927433 return nu_;
130 }
131
132 template <typename Scalar>
133 template <class ReferenceType>
134 void CostModelAbstractTpl<Scalar>::set_reference(ReferenceType ref) {
135 set_referenceImpl(typeid(ref), &ref);
136 }
137
138 template <typename Scalar>
139 ✗ void CostModelAbstractTpl<Scalar>::set_referenceImpl(const std::type_info&,
140 const void*) {
141 ✗ throw_pretty("It has not been implemented the set_referenceImpl() function");
142 }
143
144 template <typename Scalar>
145 template <class ReferenceType>
146 ReferenceType CostModelAbstractTpl<Scalar>::get_reference() {
147 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has
148 // been removed in a future release
149 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
150 ReferenceType ref;
151 get_referenceImpl(typeid(ref), &ref);
152 return ref;
153 #pragma GCC diagnostic pop
154 }
155
156 template <typename Scalar>
157 ✗ void CostModelAbstractTpl<Scalar>::get_referenceImpl(const std::type_info&,
158 void*) {
159 ✗ throw_pretty("It has not been implemented the set_referenceImpl() function");
160 }
161
162 template <class Scalar>
163 326 std::ostream& operator<<(std::ostream& os,
164 const CostModelAbstractTpl<Scalar>& model) {
165 326 model.print(os);
166 326 return os;
167 }
168
169 } // namespace crocoddyl
170