| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2016-2018 CNRS |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#ifndef __pinocchio_check_hpp__ |
| 6 |
|
|
#define __pinocchio_check_hpp__ |
| 7 |
|
|
|
| 8 |
|
|
#include "pinocchio/multibody/model.hpp" |
| 9 |
|
|
#include "pinocchio/multibody/data.hpp" |
| 10 |
|
|
#include <boost/fusion/container/list.hpp> |
| 11 |
|
|
#include <boost/fusion/container/generation/make_list.hpp> |
| 12 |
|
|
|
| 13 |
|
|
#ifndef PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE |
| 14 |
|
|
#define PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE 5 |
| 15 |
|
|
#endif |
| 16 |
|
|
|
| 17 |
|
|
namespace pinocchio |
| 18 |
|
|
{ |
| 19 |
|
|
|
| 20 |
|
|
/// CRTP class describing the API of the checkers |
| 21 |
|
|
template<typename AlgorithmCheckerDerived> |
| 22 |
|
|
struct AlgorithmCheckerBase |
| 23 |
|
|
{ |
| 24 |
|
|
inline AlgorithmCheckerDerived & derived() |
| 25 |
|
|
{ |
| 26 |
|
|
return *static_cast<AlgorithmCheckerDerived *>(this); |
| 27 |
|
|
} |
| 28 |
|
|
|
| 29 |
|
✗ |
inline const AlgorithmCheckerDerived & derived() const |
| 30 |
|
|
{ |
| 31 |
|
✗ |
return *static_cast<const AlgorithmCheckerDerived *>(this); |
| 32 |
|
|
} |
| 33 |
|
|
|
| 34 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 35 |
|
✗ |
inline bool checkModel(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const |
| 36 |
|
|
{ |
| 37 |
|
✗ |
return derived().checkModel_impl(model); |
| 38 |
|
|
} |
| 39 |
|
|
}; |
| 40 |
|
|
|
| 41 |
|
|
#define PINOCCHIO_DEFINE_ALGO_CHECKER(NAME) \ |
| 42 |
|
|
struct NAME##Checker : public AlgorithmCheckerBase<NAME##Checker> \ |
| 43 |
|
|
{ \ |
| 44 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> \ |
| 45 |
|
|
inline bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> &) const; \ |
| 46 |
|
|
} |
| 47 |
|
|
|
| 48 |
|
|
/// Simple model checker, that assert that model.parents is indeed a tree. |
| 49 |
|
|
PINOCCHIO_DEFINE_ALGO_CHECKER(Parent); |
| 50 |
|
|
|
| 51 |
|
|
#if !defined(BOOST_FUSION_HAS_VARIADIC_LIST) |
| 52 |
|
|
/// Checker having a list of Checker as input argument |
| 53 |
|
|
template<BOOST_PP_ENUM_PARAMS_WITH_A_DEFAULT( |
| 54 |
|
|
PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, class D, boost::fusion::void_)> |
| 55 |
|
|
struct AlgorithmCheckerList |
| 56 |
|
|
: AlgorithmCheckerBase< |
| 57 |
|
|
AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)>> |
| 58 |
|
|
{ |
| 59 |
|
|
typedef typename boost::fusion::list<BOOST_PP_ENUM_PARAMS( |
| 60 |
|
|
PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)> |
| 61 |
|
|
ArgType; |
| 62 |
|
|
|
| 63 |
|
|
AlgorithmCheckerList(const ArgType & checkerList) |
| 64 |
|
|
: checkerList(checkerList) |
| 65 |
|
|
{ |
| 66 |
|
|
} |
| 67 |
|
|
|
| 68 |
|
|
// Calls model.check for each checker in the fusion::list. |
| 69 |
|
|
// Each list element is supposed to implement the AlgorithmCheckerBase API. |
| 70 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 71 |
|
|
bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const; |
| 72 |
|
|
|
| 73 |
|
|
const ArgType & checkerList; |
| 74 |
|
|
}; |
| 75 |
|
|
|
| 76 |
|
|
#define MAKE_ALGO_CHECKER_LIST(z, n, _) \ |
| 77 |
|
|
/**/ \ |
| 78 |
|
|
template<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), class D)> \ |
| 79 |
|
|
AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), D)> makeAlgoCheckerList( \ |
| 80 |
|
|
BOOST_PP_ENUM_BINARY_PARAMS(BOOST_PP_INC(n), D, const & arg)) \ |
| 81 |
|
|
{ \ |
| 82 |
|
|
return AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), D)>( \ |
| 83 |
|
|
boost::fusion::make_list(BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), arg))); \ |
| 84 |
|
|
} |
| 85 |
|
|
|
| 86 |
|
|
BOOST_PP_REPEAT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, MAKE_ALGO_CHECKER_LIST, BOOST_PP_EMPTY) |
| 87 |
|
|
#else |
| 88 |
|
|
template<class... D> |
| 89 |
|
|
struct AlgorithmCheckerList : AlgorithmCheckerBase<AlgorithmCheckerList<D...>> |
| 90 |
|
|
{ |
| 91 |
|
|
typedef typename boost::fusion::list<D...> ArgType; |
| 92 |
|
|
|
| 93 |
|
✗ |
AlgorithmCheckerList(const ArgType & checkerList) |
| 94 |
|
✗ |
: checkerList(checkerList) |
| 95 |
|
|
{ |
| 96 |
|
|
} |
| 97 |
|
|
|
| 98 |
|
|
// Calls model.check for each checker in the fusion::list. |
| 99 |
|
|
// Each list element is supposed to implement the AlgorithmCheckerBase API. |
| 100 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 101 |
|
|
bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const; |
| 102 |
|
|
|
| 103 |
|
|
const ArgType & checkerList; |
| 104 |
|
|
}; |
| 105 |
|
|
|
| 106 |
|
|
template<class... T> |
| 107 |
|
✗ |
AlgorithmCheckerList<T...> makeAlgoCheckerList(const T &... args) |
| 108 |
|
|
{ |
| 109 |
|
✗ |
return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...)); |
| 110 |
|
|
} |
| 111 |
|
|
|
| 112 |
|
|
#endif |
| 113 |
|
|
|
| 114 |
|
|
/// Check the validity of data wrt to model, in particular if model has been modified. |
| 115 |
|
|
/// |
| 116 |
|
|
/// \param[in] model reference model |
| 117 |
|
|
/// \param[in] data corresponding data |
| 118 |
|
|
/// |
| 119 |
|
|
/// \returns True if data is valid wrt model. |
| 120 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 121 |
|
|
inline bool checkData( |
| 122 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 123 |
|
|
const DataTpl<Scalar, Options, JointCollectionTpl> & data); |
| 124 |
|
|
|
| 125 |
|
|
} // namespace pinocchio |
| 126 |
|
|
|
| 127 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 128 |
|
|
#include "pinocchio/algorithm/check.hxx" |
| 129 |
|
|
|
| 130 |
|
|
#endif // ifndef __pinocchio_check_hpp__ |
| 131 |
|
|
|