GCC Code Coverage Report

Directory: ./
File: include/multicontact-api/scenario/contact-patch.hpp
Date: 2025-04-05 01:06:26
Exec Total Coverage
Lines: 36 38 94.7%
Branches: 14 28 50.0%
Line Branch Exec Source
1
2 #ifndef __multicontact_api_scenario_contact_patch_hpp__
3 #define __multicontact_api_scenario_contact_patch_hpp__
4
5 #include <pinocchio/spatial/se3.hpp>
6
7 #include "multicontact-api/scenario/contact-model.hpp"
8 #include "multicontact-api/scenario/fwd.hpp"
9 #include "multicontact-api/serialization/archive.hpp"
10 #include "multicontact-api/serialization/spatial.hpp"
11
12 namespace multicontact_api {
13 namespace scenario {
14
15 template <typename _Scalar>
16 struct ContactPatchTpl
17 : public serialization::Serializable<ContactPatchTpl<_Scalar> > {
18 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
19
20 typedef _Scalar Scalar;
21 typedef ContactModelTpl<_Scalar> ContactModel;
22 typedef pinocchio::SE3Tpl<Scalar, 0> SE3;
23
24 /// \brief Default constructor.
25
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 176 ContactPatchTpl() : m_contact_model(), m_placement(SE3::Identity()) {}
26
27 /// \brief Init contact patch from a given placement.
28 93 explicit ContactPatchTpl(const SE3& placement)
29
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 93 : m_contact_model(), m_placement(placement) {}
30
31 /// \brief Init contact patch from a given placement and a friction
32 /// coefficient
33 151 ContactPatchTpl(const SE3& placement, const Scalar mu)
34
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 151 : m_contact_model(mu), m_placement(placement) {}
35
36 /// \brief Init contact patch from a given placement and a contact model
37 2 ContactPatchTpl(const SE3& placement, const ContactModel contact_model)
38
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 2 : m_contact_model(contact_model), m_placement(placement) {}
39
40 /// \brief Copy constructor
41 1237 ContactPatchTpl(const ContactPatchTpl& other)
42 1237 : m_contact_model(other.m_contact_model),
43
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 1237 m_placement(other.m_placement) {}
44
45 32 const SE3& placement() const { return m_placement; }
46 48 SE3& placement() { return m_placement; }
47
48 const Scalar& friction() const { return m_contact_model.m_mu; }
49 29 Scalar& friction() { return m_contact_model.m_mu; }
50
51 template <typename S2>
52 460 bool operator==(const ContactPatchTpl<S2>& other) const {
53
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 911 return m_placement == other.m_placement &&
54
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 911 m_contact_model == other.m_contact_model;
55 }
56
57 template <typename S2>
58 15 bool operator!=(const ContactPatchTpl<S2>& other) const {
59 15 return !(*this == other);
60 }
61
62 4 void disp(std::ostream& os) const {
63 4 os << "Placement:\n"
64 4 << m_placement << std::endl
65 4 << "ContactModel : " << m_contact_model << std::endl;
66 4 }
67
68 template <typename S2>
69 4 friend std::ostream& operator<<(std::ostream& os,
70 const ContactPatchTpl<S2>& cp) {
71 4 cp.disp(os);
72 4 return os;
73 }
74
75 /// \brief Contact model of this contact
76 ContactModel m_contact_model;
77
78 protected:
79 /// \brief Placement of the contact patch
80 SE3 m_placement;
81
82 private:
83 // Serialization of the class
84 friend class boost::serialization::access;
85
86 template <class Archive>
87 330 void save(Archive& ar, const unsigned int /*version*/) const {
88
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 330 ar& boost::serialization::make_nvp("placement", m_placement);
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 330 ar& boost::serialization::make_nvp("contact_model", m_contact_model);
90 330 }
91
92 template <class Archive>
93 330 void load(Archive& ar, const unsigned int version) {
94
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 330 ar >> boost::serialization::make_nvp("placement", m_placement);
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 330 if (version >= 1) {
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 330 ar >> boost::serialization::make_nvp("contact_model", m_contact_model);
97 } else {
98 double mu;
99 ✗ ar >> boost::serialization::make_nvp("mu", mu);
100 ✗ m_contact_model = ContactModel(mu);
101 }
102 330 }
103
104 660 BOOST_SERIALIZATION_SPLIT_MEMBER() // why is it required ? using only
105 // serialize() lead to compilation error,
106 // probably because of the SE3
107
108 }; // struct ContactPatchTpl
109 } // namespace scenario
110 } // namespace multicontact_api
111
112 MULTICONTACT_API_DEFINE_CLASS_TEMPLATE_VERSION(
113 typename Scalar, multicontact_api::scenario::ContactPatchTpl<Scalar>)
114
115 #endif // __multicontact_api_scenario_contact_patch_hpp__
116