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// |
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// Copyright (c) 2025 INRIA |
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// |
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#ifndef __pinocchio_algorithm_check_model_hpp__ |
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#define __pinocchio_algorithm_check_model_hpp__ |
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#include "pinocchio/algorithm/check-base.hpp" |
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#include <boost/fusion/container/list.hpp> |
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#include <boost/fusion/container/generation/make_list.hpp> |
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namespace pinocchio |
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{ |
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#define PINOCCHIO_DEFINE_ALGO_CHECKER(NAME) \ |
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struct NAME##Checker : public AlgorithmCheckerBase<NAME##Checker> \ |
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{ \ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> \ |
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bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> &) const; \ |
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} |
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/// Simple model checker, that assert that model.parents is indeed a tree. |
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PINOCCHIO_DEFINE_ALGO_CHECKER(Parent); |
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/// Simple model checker, that assert that there is a mimic joint in the tree |
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PINOCCHIO_DEFINE_ALGO_CHECKER(Mimic); |
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template<class... D> |
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struct AlgorithmCheckerList : AlgorithmCheckerBase<AlgorithmCheckerList<D...>> |
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{ |
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typedef typename boost::fusion::list<D...> ArgType; |
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AlgorithmCheckerList(const ArgType & checkerList) |
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: checkerList(checkerList) |
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{ |
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} |
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// Calls model.check for each checker in the fusion::list. |
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// Each list element is supposed to implement the AlgorithmCheckerBase API. |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const; |
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const ArgType & checkerList; |
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}; |
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template<class... T> |
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AlgorithmCheckerList<T...> makeAlgoCheckerList(const T &... args) |
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{ |
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return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...)); |
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} |
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} // namespace pinocchio |
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/* --- Details -------------------------------------------------------------------- */ |
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#include "pinocchio/algorithm/check-model.hxx" |
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#endif // __pinocchio_algorithm_check_model_hpp__ |
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