| Directory: | ./ |
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| File: | include/pinocchio/algorithm/copy.hpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_copy_hpp__ | ||
| 6 | #define __pinocchio_copy_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/multibody/model.hpp" | ||
| 9 | #include "pinocchio/multibody/data.hpp" | ||
| 10 | #include "pinocchio/algorithm/check.hpp" | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | /// | ||
| 15 | /// \brief Copy part of the data from \c origin to \c dest. Template parameter can be | ||
| 16 | /// used to select at which differential level the copy should occur. | ||
| 17 | /// | ||
| 18 | /// \tparam JointCollection Collection of Joint types. | ||
| 19 | /// | ||
| 20 | /// \param[in] model The model structure of the rigid body system. | ||
| 21 | /// \param[in] orig Data from which the values are copied. | ||
| 22 | /// \param[out] dest Data to which the values are copied | ||
| 23 | /// \param[in] kinematic_level if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and | ||
| 24 | /// f. | ||
| 25 | /// | ||
| 26 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 27 | inline void copy( | ||
| 28 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 29 | const DataTpl<Scalar, Options, JointCollectionTpl> & origin, | ||
| 30 | DataTpl<Scalar, Options, JointCollectionTpl> & dest, | ||
| 31 | KinematicLevel kinematic_level); | ||
| 32 | |||
| 33 | } // namespace pinocchio | ||
| 34 | |||
| 35 | /* --- Details -------------------------------------------------------------------- */ | ||
| 36 | // #include "pinocchio/algorithm/copy.hxx" | ||
| 37 | |||
| 38 | /// \internal | ||
| 39 | namespace pinocchio | ||
| 40 | { | ||
| 41 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 42 | 3 | inline void copy( | |
| 43 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 44 | const DataTpl<Scalar, Options, JointCollectionTpl> & origin, | ||
| 45 | DataTpl<Scalar, Options, JointCollectionTpl> & dest, | ||
| 46 | KinematicLevel kinematic_level) | ||
| 47 | { | ||
| 48 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
| 49 | typedef typename Model::JointIndex JointIndex; | ||
| 50 | |||
| 51 |
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3 | PINOCCHIO_CHECK_INPUT_ARGUMENT(kinematic_level >= POSITION); |
| 52 | |||
| 53 |
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84 | for (JointIndex jid = 1; jid < (JointIndex)model.njoints; ++jid) |
| 54 | { | ||
| 55 | 81 | dest.oMi[jid] = origin.oMi[jid]; | |
| 56 |
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81 | if (kinematic_level >= VELOCITY) |
| 57 | { | ||
| 58 | 54 | dest.v[jid] = origin.v[jid]; | |
| 59 | } | ||
| 60 |
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81 | if (kinematic_level >= ACCELERATION) |
| 61 | { | ||
| 62 | 27 | dest.a[jid] = origin.a[jid]; | |
| 63 | 27 | dest.a_gf[jid] = origin.a_gf[jid]; | |
| 64 | 27 | dest.f[jid] = origin.f[jid]; | |
| 65 | } | ||
| 66 | } | ||
| 67 | 3 | } | |
| 68 | |||
| 69 | } // namespace pinocchio | ||
| 70 | /// \endinternal | ||
| 71 | |||
| 72 | #endif // ifndef __pinocchio_copy_hpp__ | ||
| 73 |