| GCC Code Coverage Report | |||||||||||||||||||||
|
|||||||||||||||||||||
| Line | Branch | Exec | Source |
1 |
// |
||
2 |
// Copyright (c) 2015-2022 CNRS INRIA |
||
3 |
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
||
4 |
// |
||
5 |
|||
6 |
#ifndef __pinocchio_multibody_data_hxx__ |
||
7 |
#define __pinocchio_multibody_data_hxx__ |
||
8 |
|||
9 |
#include "pinocchio/spatial/fwd.hpp" |
||
10 |
#include "pinocchio/multibody/model.hpp" |
||
11 |
#include "pinocchio/utils/string-generator.hpp" |
||
12 |
#include "pinocchio/multibody/liegroup/liegroup-algo.hpp" |
||
13 |
|||
14 |
/// @cond DEV |
||
15 |
|||
16 |
namespace pinocchio |
||
17 |
{ |
||
18 |
|||
19 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
20 |
392 |
inline DataTpl<Scalar,Options,JointCollectionTpl>:: |
|
21 |
DataTpl(const Model & model) |
||
22 |
: joints(0) |
||
23 |
392 |
, a((std::size_t)model.njoints,Motion::Zero()) |
|
24 |
392 |
, oa((std::size_t)model.njoints,Motion::Zero()) |
|
25 |
392 |
, a_gf((std::size_t)model.njoints,Motion::Zero()) |
|
26 |
392 |
, oa_gf((std::size_t)model.njoints,Motion::Zero()) |
|
27 |
392 |
, v((std::size_t)model.njoints,Motion::Zero()) |
|
28 |
392 |
, ov((std::size_t)model.njoints,Motion::Zero()) |
|
29 |
392 |
, f((std::size_t)model.njoints,Force::Zero()) |
|
30 |
392 |
, of((std::size_t)model.njoints,Force::Zero()) |
|
31 |
392 |
, h((std::size_t)model.njoints,Force::Zero()) |
|
32 |
392 |
, oh((std::size_t)model.njoints,Force::Zero()) |
|
33 |
392 |
, oMi((std::size_t)model.njoints,SE3::Identity()) |
|
34 |
392 |
, liMi((std::size_t)model.njoints,SE3::Identity()) |
|
35 |
392 |
, tau(VectorXs::Zero(model.nv)) |
|
36 |
392 |
, nle(VectorXs::Zero(model.nv)) |
|
37 |
392 |
, g(VectorXs::Zero(model.nv)) |
|
38 |
392 |
, oMf((std::size_t)model.nframes,SE3::Identity()) |
|
39 |
392 |
, Ycrb((std::size_t)model.njoints,Inertia::Zero()) |
|
40 |
392 |
, dYcrb((std::size_t)model.njoints,Inertia::Zero()) |
|
41 |
392 |
, M(MatrixXs::Zero(model.nv,model.nv)) |
|
42 |
392 |
, Minv(MatrixXs::Zero(model.nv,model.nv)) |
|
43 |
392 |
, C(MatrixXs::Zero(model.nv,model.nv)) |
|
44 |
392 |
, dHdq(Matrix6x::Zero(6,model.nv)) |
|
45 |
392 |
, dFdq(Matrix6x::Zero(6,model.nv)) |
|
46 |
392 |
, dFdv(Matrix6x::Zero(6,model.nv)) |
|
47 |
392 |
, dFda(Matrix6x::Zero(6,model.nv)) |
|
48 |
392 |
, SDinv(Matrix6x::Zero(6,model.nv)) |
|
49 |
392 |
, UDinv(Matrix6x::Zero(6,model.nv)) |
|
50 |
392 |
, IS(MatrixXs::Zero(6,model.nv)) |
|
51 |
392 |
, vxI((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
|
52 |
392 |
, Ivx((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
|
53 |
392 |
, B((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
|
54 |
392 |
, oinertias((std::size_t)model.njoints,Inertia::Zero()) |
|
55 |
392 |
, oYcrb((std::size_t)model.njoints,Inertia::Zero()) |
|
56 |
392 |
, doYcrb((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
|
57 |
392 |
, ddq(VectorXs::Zero(model.nv)) |
|
58 |
392 |
, Yaba((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
|
59 |
392 |
, u(VectorXs::Zero(model.nv)) |
|
60 |
392 |
, Ag(Matrix6x::Zero(6,model.nv)) |
|
61 |
392 |
, dAg(Matrix6x::Zero(6,model.nv)) |
|
62 |
, hg(Force::Zero()) |
||
63 |
, dhg(Force::Zero()) |
||
64 |
, Ig(Inertia::Zero()) |
||
65 |
784 |
, Fcrb((std::size_t)model.njoints,Matrix6x::Zero(6,model.nv)) |
|
66 |
, lastChild((std::size_t)model.njoints,-1) |
||
67 |
, nvSubtree((std::size_t)model.njoints,-1) |
||
68 |
, start_idx_v_fromRow((std::size_t)model.nv,-1) |
||
69 |
, end_idx_v_fromRow((std::size_t)model.nv,-1) |
||
70 |
392 |
, U(MatrixXs::Identity(model.nv,model.nv)) |
|
71 |
392 |
, D(VectorXs::Zero(model.nv)) |
|
72 |
392 |
, Dinv(VectorXs::Zero(model.nv)) |
|
73 |
392 |
, tmp(VectorXs::Zero(model.nv)) |
|
74 |
, parents_fromRow((std::size_t)model.nv,-1) |
||
75 |
392 |
, supports_fromRow((std::size_t)model.nv) |
|
76 |
, nvSubtree_fromRow((std::size_t)model.nv,-1) |
||
77 |
392 |
, J(Matrix6x::Zero(6,model.nv)) |
|
78 |
392 |
, dJ(Matrix6x::Zero(6,model.nv)) |
|
79 |
392 |
, ddJ(Matrix6x::Zero(6, model.nv)) |
|
80 |
392 |
, psid(Matrix6x::Zero(6, model.nv)) |
|
81 |
392 |
, psidd(Matrix6x::Zero(6, model.nv)) |
|
82 |
392 |
, dVdq(Matrix6x::Zero(6,model.nv)) |
|
83 |
392 |
, dAdq(Matrix6x::Zero(6,model.nv)) |
|
84 |
392 |
, dAdv(Matrix6x::Zero(6,model.nv)) |
|
85 |
392 |
, dtau_dq(MatrixXs::Zero(model.nv,model.nv)) |
|
86 |
392 |
, dtau_dv(MatrixXs::Zero(model.nv,model.nv)) |
|
87 |
392 |
, ddq_dq(MatrixXs::Zero(model.nv,model.nv)) |
|
88 |
392 |
, ddq_dv(MatrixXs::Zero(model.nv,model.nv)) |
|
89 |
392 |
, iMf((std::size_t)model.njoints,SE3::Identity()) |
|
90 |
392 |
, com((std::size_t)model.njoints,Vector3::Zero()) |
|
91 |
392 |
, vcom((std::size_t)model.njoints,Vector3::Zero()) |
|
92 |
392 |
, acom((std::size_t)model.njoints,Vector3::Zero()) |
|
93 |
392 |
, mass((std::size_t)model.njoints,(Scalar)(-1)) |
|
94 |
392 |
, Jcom(Matrix3x::Zero(3,model.nv)) |
|
95 |
, kinetic_energy((Scalar)-1) |
||
96 |
, potential_energy((Scalar)-1) |
||
97 |
, JMinvJt() |
||
98 |
, llt_JMinvJt() |
||
99 |
, lambda_c() |
||
100 |
392 |
, sDUiJt(MatrixXs::Zero(model.nv,model.nv)) |
|
101 |
392 |
, torque_residual(VectorXs::Zero(model.nv)) |
|
102 |
392 |
, dq_after(VectorXs::Zero(model.nv)) |
|
103 |
, impulse_c() |
||
104 |
392 |
, staticRegressor(Matrix3x::Zero(3,4*(model.njoints-1))) |
|
105 |
, bodyRegressor(BodyRegressorType::Zero()) |
||
106 |
392 |
, jointTorqueRegressor(MatrixXs::Zero(model.nv,10*(model.njoints-1))) |
|
107 |
#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,2,93) |
||
108 |
, kinematic_hessians(6,std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
||
109 |
, d2tau_dqdq(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
||
110 |
, d2tau_dvdv(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
||
111 |
, d2tau_dqdv(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
||
112 |
, d2tau_dadq(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
||
113 |
#else |
||
114 |
392 |
, kinematic_hessians(6,model.nv,model.nv) |
|
115 |
392 |
, d2tau_dqdq(model.nv,model.nv,model.nv) |
|
116 |
392 |
, d2tau_dvdv(model.nv,model.nv,model.nv) |
|
117 |
392 |
, d2tau_dqdv(model.nv,model.nv,model.nv) |
|
118 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
392 |
, d2tau_dadq(model.nv,model.nv,model.nv) |
119 |
#endif |
||
120 |
{ |
||
121 |
typedef typename Model::JointIndex JointIndex; |
||
122 |
|||
123 |
/* Create data structure associated to the joints */ |
||
124 |
✓✓ | 10271 |
for(JointIndex i=0;i<(JointIndex)(model.njoints);++i) |
125 |
✓✗✓✗ |
9879 |
joints.push_back(CreateJointData<Scalar,Options,JointCollectionTpl>::run(model.joints[i])); |
126 |
|||
127 |
/* Init for CRBA */ |
||
128 |
✓✗✓✗ |
392 |
M.setZero(); Minv.setZero(); |
129 |
✓✓ | 10271 |
for(JointIndex i=0;i<(JointIndex)(model.njoints);++i) |
130 |
✓✗ | 9879 |
{ Fcrb[i].resize(6,model.nv); } |
131 |
|||
132 |
✓✗ | 392 |
computeLastChild(model); |
133 |
|||
134 |
/* Init for Coriolis */ |
||
135 |
|||
136 |
/* Init for Cholesky */ |
||
137 |
✓✗ | 392 |
computeParents_fromRow(model); |
138 |
✓✗ | 392 |
computeSupports_fromRow(model); |
139 |
|||
140 |
/* Init universe states relatively to itself */ |
||
141 |
✓✗ | 392 |
a_gf[0] = -model.gravity; |
142 |
|||
143 |
✓✗ | 392 |
kinematic_hessians.setZero(); |
144 |
✓✗ | 392 |
d2tau_dqdq.setZero(); |
145 |
✓✗ | 392 |
d2tau_dvdv.setZero(); |
146 |
✓✗ | 392 |
d2tau_dqdv.setZero(); |
147 |
✓✗ | 392 |
d2tau_dadq.setZero(); |
148 |
|||
149 |
392 |
} |
|
150 |
|||
151 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
152 |
392 |
inline void DataTpl<Scalar,Options,JointCollectionTpl>:: |
|
153 |
computeLastChild(const Model & model) |
||
154 |
{ |
||
155 |
typedef typename Model::Index Index; |
||
156 |
|||
157 |
✓✗ | 392 |
std::fill(lastChild.begin(),lastChild.end(),-1); |
158 |
✓✓ | 10271 |
for( int i=model.njoints-1;i>=0;--i ) |
159 |
{ |
||
160 |
✓✓ | 9879 |
if(lastChild[(Index)i] == -1) lastChild[(Index)i] = i; |
161 |
9879 |
const Index & parent = model.parents[(Index)i]; |
|
162 |
9879 |
lastChild[parent] = std::max<int>(lastChild[(Index)i],lastChild[parent]); |
|
163 |
|||
164 |
19758 |
nvSubtree[(Index)i] |
|
165 |
9879 |
= idx_v(model.joints[(Index)lastChild[(Index)i]]) + nv(model.joints[(Index)lastChild[(Index)i]]) |
|
166 |
9879 |
- idx_v(model.joints[(Index)i]); |
|
167 |
} |
||
168 |
392 |
} |
|
169 |
|||
170 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
171 |
392 |
inline void DataTpl<Scalar,Options,JointCollectionTpl> |
|
172 |
::computeParents_fromRow(const Model & model) |
||
173 |
{ |
||
174 |
typedef typename Model::Index Index; |
||
175 |
|||
176 |
✓✓ | 9879 |
for(Index joint=1;joint<(Index)(model.njoints);joint++) |
177 |
{ |
||
178 |
9487 |
const Index & parent = model.parents[joint]; |
|
179 |
9487 |
const int nvj = nv (model.joints[joint]); |
|
180 |
9487 |
const int idx_vj = idx_v(model.joints[joint]); |
|
181 |
|||
182 |
✓✗✓✗ |
9487 |
assert(idx_vj >= 0 && idx_vj < model.nv); |
183 |
|||
184 |
✓✓ | 9487 |
if(parent>0) parents_fromRow[(size_t)idx_vj] = idx_v(model.joints[parent])+nv(model.joints[parent])-1; |
185 |
392 |
else parents_fromRow[(size_t)idx_vj] = -1; |
|
186 |
9487 |
nvSubtree_fromRow[(size_t)idx_vj] = nvSubtree[joint]; |
|
187 |
|||
188 |
9487 |
start_idx_v_fromRow[(size_t)idx_vj] = idx_vj; |
|
189 |
9487 |
end_idx_v_fromRow[(size_t)idx_vj] = idx_vj+nvj-1; |
|
190 |
✓✓ | 11299 |
for(int row=1;row<nvj;++row) |
191 |
{ |
||
192 |
1812 |
parents_fromRow[(size_t)(idx_vj+row)] = idx_vj+row-1; |
|
193 |
1812 |
nvSubtree_fromRow[(size_t)(idx_vj+row)] = nvSubtree[joint]-row; |
|
194 |
1812 |
start_idx_v_fromRow[(size_t)(idx_vj+row)] = start_idx_v_fromRow[(size_t)idx_vj]; |
|
195 |
1812 |
end_idx_v_fromRow[(size_t)(idx_vj+row)] = end_idx_v_fromRow[(size_t)idx_vj]; |
|
196 |
} |
||
197 |
} |
||
198 |
392 |
} |
|
199 |
|||
200 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
201 |
392 |
inline void DataTpl<Scalar,Options,JointCollectionTpl> |
|
202 |
::computeSupports_fromRow(const Model & model) |
||
203 |
{ |
||
204 |
typedef typename Model::JointIndex JointIndex; |
||
205 |
|||
206 |
9879 |
for(JointIndex joint_id = 1; |
|
207 |
✓✓ | 9879 |
joint_id < (JointIndex)(model.njoints); |
208 |
joint_id++) |
||
209 |
{ |
||
210 |
✓✗ | 9487 |
const int nvj = nv (model.joints[joint_id]); |
211 |
✓✗ | 9487 |
const int idx_vj = idx_v(model.joints[joint_id]); |
212 |
|||
213 |
✓✗✓✗ |
9487 |
assert(idx_vj >= 0 && idx_vj < model.nv); |
214 |
|||
215 |
9487 |
const int parent_fromRow = parents_fromRow[(size_t)idx_vj]; |
|
216 |
|||
217 |
✓✓ | 9487 |
if(parent_fromRow >= 0) |
218 |
✓✗ | 9093 |
supports_fromRow[(size_t)idx_vj] = supports_fromRow[(size_t)parent_fromRow]; |
219 |
|||
220 |
✓✗ | 9487 |
supports_fromRow[(size_t)idx_vj].push_back(idx_vj); |
221 |
|||
222 |
✓✓ | 11299 |
for(int row = 1; row < nvj; ++row) |
223 |
{ |
||
224 |
✓✗ | 1812 |
supports_fromRow[(size_t)(idx_vj+row)] = supports_fromRow[(size_t)(idx_vj+row-1)]; |
225 |
✓✗ | 1812 |
supports_fromRow[(size_t)(idx_vj+row)].push_back(idx_vj+row); |
226 |
} |
||
227 |
} |
||
228 |
392 |
} |
|
229 |
|||
230 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
231 |
10 |
bool operator==(const DataTpl<Scalar,Options,JointCollectionTpl> & data1, |
|
232 |
const DataTpl<Scalar,Options,JointCollectionTpl> & data2) |
||
233 |
{ |
||
234 |
10 |
bool value = |
|
235 |
10 |
data1.joints == data2.joints |
|
236 |
✓✗ | 10 |
&& data1.a == data2.a |
237 |
✓✗ | 10 |
&& data1.oa == data2.oa |
238 |
✓✗ | 10 |
&& data1.a_gf == data2.a_gf |
239 |
✓✗ | 10 |
&& data1.oa_gf == data2.oa_gf |
240 |
✓✗ | 10 |
&& data1.v == data2.v |
241 |
✓✗ | 10 |
&& data1.ov == data2.ov |
242 |
✓✗ | 10 |
&& data1.f == data2.f |
243 |
✓✗ | 10 |
&& data1.of == data2.of |
244 |
✓✗ | 10 |
&& data1.h == data2.h |
245 |
✓✗ | 10 |
&& data1.oh == data2.oh |
246 |
✓✓ | 10 |
&& data1.oMi == data2.oMi |
247 |
✓✗ | 9 |
&& data1.liMi == data2.liMi |
248 |
✓✗ | 9 |
&& data1.tau == data2.tau |
249 |
✓✗ | 9 |
&& data1.nle == data2.nle |
250 |
✓✗ | 9 |
&& data1.g == data2.g |
251 |
✓✗ | 9 |
&& data1.oMf == data2.oMf |
252 |
✓✗ | 9 |
&& data1.Ycrb == data2.Ycrb |
253 |
✓✗ | 9 |
&& data1.dYcrb == data2.dYcrb |
254 |
✓✗ | 9 |
&& data1.M == data2.M |
255 |
✓✗ | 9 |
&& data1.Minv == data2.Minv |
256 |
✓✗ | 9 |
&& data1.C == data2.C |
257 |
✓✗ | 9 |
&& data1.dHdq == data2.dHdq |
258 |
✓✗ | 9 |
&& data1.dFdq == data2.dFdq |
259 |
✓✗ | 9 |
&& data1.dFdv == data2.dFdv |
260 |
✓✗ | 9 |
&& data1.dFda == data2.dFda |
261 |
✓✗ | 9 |
&& data1.SDinv == data2.SDinv |
262 |
✓✗ | 9 |
&& data1.UDinv == data2.UDinv |
263 |
✓✗ | 9 |
&& data1.IS == data2.IS |
264 |
✓✗ | 9 |
&& data1.vxI == data2.vxI |
265 |
✓✗ | 9 |
&& data1.Ivx == data2.Ivx |
266 |
✓✗ | 9 |
&& data1.oinertias == data2.oinertias |
267 |
✓✗ | 9 |
&& data1.oYcrb == data2.oYcrb |
268 |
✓✗ | 9 |
&& data1.doYcrb == data2.doYcrb |
269 |
✓✗ | 9 |
&& data1.ddq == data2.ddq |
270 |
✓✗ | 9 |
&& data1.Yaba == data2.Yaba |
271 |
✓✗ | 9 |
&& data1.u == data2.u |
272 |
✓✗ | 9 |
&& data1.Ag == data2.Ag |
273 |
✓✗ | 9 |
&& data1.dAg == data2.dAg |
274 |
✓✗ | 9 |
&& data1.hg == data2.hg |
275 |
✓✗ | 9 |
&& data1.dhg == data2.dhg |
276 |
✓✗ | 9 |
&& data1.Ig == data2.Ig |
277 |
✓✗ | 9 |
&& data1.Fcrb == data2.Fcrb |
278 |
✓✗ | 9 |
&& data1.lastChild == data2.lastChild |
279 |
✓✗ | 9 |
&& data1.nvSubtree == data2.nvSubtree |
280 |
✓✗ | 9 |
&& data1.start_idx_v_fromRow == data2.start_idx_v_fromRow |
281 |
✓✗ | 9 |
&& data1.end_idx_v_fromRow == data2.end_idx_v_fromRow |
282 |
✓✗ | 9 |
&& data1.U == data2.U |
283 |
✓✗ | 9 |
&& data1.D == data2.D |
284 |
✓✗ | 9 |
&& data1.Dinv == data2.Dinv |
285 |
✓✗ | 9 |
&& data1.parents_fromRow == data2.parents_fromRow |
286 |
✓✗ | 9 |
&& data1.supports_fromRow == data2.supports_fromRow |
287 |
✓✗ | 9 |
&& data1.nvSubtree_fromRow == data2.nvSubtree_fromRow |
288 |
✓✗ | 9 |
&& data1.J == data2.J |
289 |
✓✗ | 9 |
&& data1.dJ == data2.dJ |
290 |
✓✗ | 9 |
&& data1.ddJ == data2.ddJ |
291 |
✓✗ | 9 |
&& data1.psid == data2.psid |
292 |
✓✗ | 9 |
&& data1.psidd == data2.psidd |
293 |
✓✗ | 9 |
&& data1.dVdq == data2.dVdq |
294 |
✓✗ | 9 |
&& data1.dAdq == data2.dAdq |
295 |
✓✗ | 9 |
&& data1.dAdv == data2.dAdv |
296 |
✓✗ | 9 |
&& data1.dtau_dq == data2.dtau_dq |
297 |
✓✗ | 9 |
&& data1.dtau_dv == data2.dtau_dv |
298 |
✓✗ | 9 |
&& data1.ddq_dq == data2.ddq_dq |
299 |
✓✗ | 9 |
&& data1.ddq_dv == data2.ddq_dv |
300 |
✓✗ | 9 |
&& data1.iMf == data2.iMf |
301 |
✓✗ | 9 |
&& data1.com == data2.com |
302 |
✓✗ | 9 |
&& data1.vcom == data2.vcom |
303 |
✓✗ | 9 |
&& data1.acom == data2.acom |
304 |
✓✗ | 9 |
&& data1.mass == data2.mass |
305 |
✓✗ | 9 |
&& data1.Jcom == data2.Jcom |
306 |
✓✗ | 9 |
&& data1.kinetic_energy == data2.kinetic_energy |
307 |
✓✗ | 9 |
&& data1.potential_energy == data2.potential_energy |
308 |
✓✗ | 9 |
&& data1.JMinvJt == data2.JMinvJt |
309 |
✓✗ | 9 |
&& data1.lambda_c == data2.lambda_c |
310 |
✓✗ | 9 |
&& data1.torque_residual == data2.torque_residual |
311 |
✓✗ | 9 |
&& data1.dq_after == data2.dq_after |
312 |
✓✗ | 9 |
&& data1.impulse_c == data2.impulse_c |
313 |
✓✗ | 9 |
&& data1.staticRegressor == data2.staticRegressor |
314 |
✓✗ | 9 |
&& data1.bodyRegressor == data2.bodyRegressor |
315 |
✓✗✓✗ |
20 |
&& data1.jointTorqueRegressor == data2.jointTorqueRegressor |
316 |
; |
||
317 |
|||
318 |
// operator== for Eigen::Tensor provides an Expression which might be not evaluated as a boolean |
||
319 |
✓✗✓✗ ✗✗ |
20 |
value &= Tensor<bool, 0>((data1.kinematic_hessians == data2.kinematic_hessians).all())(0) |
320 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dqdq == data2.d2tau_dqdq).all())(0) |
321 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dvdv == data2.d2tau_dvdv).all())(0) |
322 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dqdv == data2.d2tau_dqdv).all())(0) |
323 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
30 |
&& Tensor<bool, 0>((data1.d2tau_dadq == data2.d2tau_dadq).all())(0); |
324 |
|||
325 |
10 |
return value; |
|
326 |
} |
||
327 |
|||
328 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
329 |
1 |
bool operator!=(const DataTpl<Scalar,Options,JointCollectionTpl> & data1, |
|
330 |
const DataTpl<Scalar,Options,JointCollectionTpl> & data2) |
||
331 |
{ |
||
332 |
1 |
return !(data1 == data2); |
|
333 |
} |
||
334 |
|||
335 |
} // namespace pinocchio |
||
336 |
|||
337 |
/// @endcond |
||
338 |
|||
339 |
#endif // ifndef __pinocchio_multibody_data_hxx__ |
| Generated by: GCOVR (Version 4.2) |