GCC Code Coverage Report

Directory: ./
File: src/visualizers/base-visualizer.cpp
Date: 2025-04-30 16:14:33
Exec Total Coverage
Lines: 36 69 52.2%
Branches: 11 60 18.3%
Line Branch Exec Source
1 //
2 // Copyright (c) 2024-2025 INRIA
3 //
4 #include "pinocchio/visualizers/base-visualizer.hpp"
5
6 #include "pinocchio/algorithm/frames.hpp"
7 #include "pinocchio/algorithm/geometry.hpp"
8 #include "pinocchio/algorithm/model.hpp"
9
10 #include <chrono>
11 #include <thread>
12
13 namespace pinocchio
14 {
15 namespace visualizers
16 {
17
18 1 BaseVisualizer::BaseVisualizer(
19 const Model & model,
20 const GeometryModel & visual_model,
21 const GeometryModel * collision_model,
22 Data & data,
23 GeometryData & visual_data,
24 1 GeometryData * collision_data)
25 1 : m_model(model)
26 1 , m_visualModel(&visual_model)
27 1 , m_collisionModel(collision_model)
28 1 , m_data(&data)
29 1 , m_visualData(&visual_data)
30 1 , m_collisionData(collision_data)
31 1 , m_ownedData(false)
32 {
33
1/2
✗ Branch 1 not taken.
✓ Branch 2 taken 1 times.
 1 if (hasCollisionModel())
34 {
35 ✗ PINOCCHIO_THROW(
36 collision_data != nullptr, std::logic_error,
37 "A collision model was provided but no pointer to collision GeometryData to borrow.");
38 }
39 else
40 {
41 1 m_collisionData = nullptr;
42 }
43 1 }
44
45 2 BaseVisualizer::BaseVisualizer(
46 const Model & model,
47 const GeometryModel & visual_model,
48 2 const GeometryModel * collision_model)
49 2 : m_model(model)
50 2 , m_visualModel(&visual_model)
51 2 , m_collisionModel(collision_model)
52
1/2
✓ Branch 2 taken 2 times.
✗ Branch 3 not taken.
 2 , m_data(new Data(model))
53
1/2
✓ Branch 2 taken 2 times.
✗ Branch 3 not taken.
 2 , m_visualData(new GeometryData(visual_model))
54 2 , m_collisionData(nullptr)
55 2 , m_ownedData(true)
56 {
57
1/2
✗ Branch 1 not taken.
✓ Branch 2 taken 2 times.
 2 if (hasCollisionModel())
58 ✗ m_collisionData = new GeometryData(*m_collisionModel);
59 2 }
60
61 6 BaseVisualizer::~BaseVisualizer()
62 {
63 6 this->destroyData();
64 }
65
66 3 void BaseVisualizer::destroyData()
67 {
68
2/2
✓ Branch 0 taken 2 times.
✓ Branch 1 taken 1 times.
 3 if (m_ownedData)
69 {
70
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 2 times.
 2 assert(m_data);
71
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 2 times.
 2 assert(m_visualData);
72
1/2
✓ Branch 0 taken 2 times.
✗ Branch 1 not taken.
 2 delete m_data;
73
1/2
✓ Branch 0 taken 2 times.
✗ Branch 1 not taken.
 2 delete m_visualData;
74
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 2 times.
 2 if (m_collisionData)
75 ✗ delete m_collisionData;
76 }
77 3 m_data = nullptr;
78 3 m_visualData = nullptr;
79 3 m_collisionData = nullptr;
80 3 }
81
82 ✗ void BaseVisualizer::rebuildData()
83 {
84 ✗ this->destroyData();
85 ✗ m_data = new Data(m_model);
86 ✗ m_visualData = new GeometryData(*m_visualModel);
87 ✗ if (hasCollisionModel())
88 ✗ m_collisionData = new GeometryData(*m_collisionModel);
89 // mark as owned, if that was not the case
90 ✗ m_ownedData = true;
91 }
92
93 ✗ void BaseVisualizer::display(const boost::optional<ConstVectorRef> & q)
94 {
95 ✗ displayPrecall();
96 ✗ if (q.has_value())
97 {
98 ✗ forwardKinematics(model(), *m_data, *q);
99 }
100 ✗ updateGeometryPlacements(model(), *m_data, *m_visualModel, *m_visualData);
101 ✗ if (hasCollisionModel())
102 {
103 ✗ updateGeometryPlacements(model(), *m_data, *m_collisionModel, *m_collisionData);
104 }
105 ✗ displayImpl();
106 }
107
108 ✗ void BaseVisualizer::play(const std::vector<ConstVectorRef> & qs, Scalar dt)
109 {
110 using std::chrono::steady_clock;
111 ✗ const auto nsteps = qs.size();
112 ✗ const auto ms = std::chrono::milliseconds(unsigned(dt * 1e3));
113
114 ✗ for (size_t i = 0; i < nsteps; i++)
115 {
116 ✗ const auto cur = steady_clock::now();
117 ✗ this->display(qs[i]);
118 ✗ if (!this->forceRedraw())
119 ✗ return;
120 ✗ std::this_thread::sleep_until(cur + ms);
121 }
122 }
123
124 ✗ void BaseVisualizer::play(const ConstMatrixRef & qs, Scalar dt)
125 {
126 using Eigen::Index;
127 ✗ const Index nsteps = qs.rows();
128 ✗ std::vector<ConstVectorRef> qs_;
129 ✗ for (Index i = 0; i < nsteps; i++)
130 {
131 ✗ qs_.emplace_back(qs.row(i));
132 }
133 // call overload
134 ✗ this->play(qs_, dt);
135 }
136
137 } // namespace visualizers
138 } // namespace pinocchio
139