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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/pinocchio/multibody/joint/joint-data-base.hpp	Lines:	35	41	85.4 %
Date:	2024-04-26 13:14:21	Branches:	53	99	53.5 %


//
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_multibody_joint_data_base_hpp__
#define __pinocchio_multibody_joint_data_base_hpp__

#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/joint/joint-model-base.hpp"

#define PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,TYPENAME)              \
  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,TYPENAME); \
  typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef;      \
  typedef TYPENAME traits<Joint>::ConstraintTypeRef ConstraintTypeRef;      \
  typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef;      \
  typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef;      \
  typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef;      \
  typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef;      \
  typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef;      \
  typedef TYPENAME traits<Joint>::BiasTypeRef BiasTypeRef;      \
  typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef;      \
  typedef TYPENAME traits<Joint>::UTypeRef UTypeRef;      \
  typedef TYPENAME traits<Joint>::DTypeConstRef DTypeConstRef;      \
  typedef TYPENAME traits<Joint>::DTypeRef DTypeRef;      \
  typedef TYPENAME traits<Joint>::UDTypeConstRef UDTypeConstRef; \
  typedef TYPENAME traits<Joint>::UDTypeRef UDTypeRef

#ifdef __clang__

  #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,PINOCCHIO_EMPTY_ARG)
  #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)

#elif (__GNUC__ == 4) && (__GNUC_MINOR__ == 4) && (__GNUC_PATCHLEVEL__ == 2)

  #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,PINOCCHIO_EMPTY_ARG)
  #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)

#else

  #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)
  #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)

#endif

#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \
  ConstraintTypeConstRef S_accessor() const { return S; } \
  ConstraintTypeRef S_accessor() { return S; } \
  TansformTypeConstRef M_accessor() const { return M; } \
  TansformTypeRef M_accessor() { return M; } \
  MotionTypeConstRef v_accessor() const { return v; } \
  MotionTypeRef v_accessor() { return v; } \
  BiasTypeConstRef c_accessor() const { return c; } \
  BiasTypeRef c_accessor() { return c; } \
  UTypeConstRef U_accessor() const { return U; } \
  UTypeRef U_accessor() { return U; } \
  DTypeConstRef Dinv_accessor() const { return Dinv; } \
  DTypeRef Dinv_accessor() { return Dinv; } \
  UDTypeConstRef UDinv_accessor() const { return UDinv; } \
  UDTypeRef UDinv_accessor() { return UDinv; }

#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \
  typedef const Constraint_t & ConstraintTypeConstRef; \
  typedef Constraint_t & ConstraintTypeRef; \
  typedef const Transformation_t & TansformTypeConstRef; \
  typedef Transformation_t & TansformTypeRef; \
  typedef const Motion_t & MotionTypeConstRef; \
  typedef Motion_t & MotionTypeRef; \
  typedef const Bias_t & BiasTypeConstRef; \
  typedef Bias_t & BiasTypeRef; \
  typedef const U_t & UTypeConstRef; \
  typedef U_t & UTypeRef; \
  typedef const D_t & DTypeConstRef; \
  typedef D_t & DTypeRef; \
  typedef const UD_t & UDTypeConstRef; \
  typedef UD_t & UDTypeRef;

namespace pinocchio
{

  template<typename Derived>
  struct JointDataBase
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename traits<Derived>::JointDerived JointDerived;
    PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);

    Derived & derived() { return *static_cast<Derived*>(this); }
    const Derived & derived() const { return *static_cast<const Derived*>(this); }

    ConstraintTypeConstRef S() const     { return derived().S_accessor(); }
    ConstraintTypeRef S()     { return derived().S_accessor(); }
    TansformTypeConstRef M() const     { return derived().M_accessor(); }
    TansformTypeRef M() { return derived().M_accessor(); }
    MotionTypeConstRef v() const     { return derived().v_accessor(); }
    MotionTypeRef v()     { return derived().v_accessor(); }
    BiasTypeConstRef c() const     { return derived().c_accessor(); }
    BiasTypeRef c()     { return derived().c_accessor(); }

    UTypeConstRef U() const     { return derived().U_accessor(); }
    UTypeRef U()           { return derived().U_accessor(); }
    DTypeConstRef Dinv() const  { return derived().Dinv_accessor(); }
    DTypeRef Dinv()  { return derived().Dinv_accessor(); }
    UDTypeConstRef UDinv() const { return derived().UDinv_accessor(); }
    UDTypeRef UDinv() { return derived().UDinv_accessor(); }

    std::string shortname() const { return derived().shortname(); }
    static std::string classname() { return Derived::classname(); }

    void disp(std::ostream & os) const
    {
      using namespace std;
      os << shortname() << endl;
    }

    friend std::ostream & operator << (std::ostream & os, const JointDataBase<Derived> & joint)
    {
      joint.disp(os);
      return os;
    }

    template<typename OtherDerived>
    bool operator==(const JointDataBase<OtherDerived> & other) const
    {
      return derived().isEqual(other.derived());
    }

    /// \brief Default operator== implementation
    bool isEqual(const JointDataBase & other) const
    {
      return S() == other.S()
          && M() == other.M()
          && v() == other.v()
          && c() == other.c()
          && U() == other.U()
          && Dinv() == other.Dinv()
          && UDinv() == other.UDinv()
      ;
    }

    /// \brief Default operator== implementation
    template<typename OtherDerived>
    bool isEqual(const JointDataBase<OtherDerived> & /*other*/) const
    {
      return false;
      ;
    }

    bool operator!=(const JointDataBase<Derived> & other) const
    {
      return derived().isNotEqual(other.derived());
    }

    /// \brief Default operator!= implementation
    bool isNotEqual(const JointDataBase<Derived> & other) const
    {
      return !(derived() == other.derived());
    }

  protected:

    /// \brief Default constructor: protected.
    inline JointDataBase() {}

  }; // struct JointDataBase

} // namespace pinocchio

#endif // ifndef __pinocchio_multibody_joint_data_base_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2019 CNRS INRIA
3			// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4			//
5
6			#ifndef __pinocchio_multibody_joint_data_base_hpp__
7			#define __pinocchio_multibody_joint_data_base_hpp__
8
9			#include "pinocchio/multibody/joint/joint-base.hpp"
10			#include "pinocchio/multibody/joint/joint-model-base.hpp"
11
12			#define PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,TYPENAME) \
13			PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,TYPENAME); \
14			typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef; \
15			typedef TYPENAME traits<Joint>::ConstraintTypeRef ConstraintTypeRef; \
16			typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef; \
17			typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef; \
18			typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \
19			typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef; \
20			typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \
21			typedef TYPENAME traits<Joint>::BiasTypeRef BiasTypeRef; \
22			typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \
23			typedef TYPENAME traits<Joint>::UTypeRef UTypeRef; \
24			typedef TYPENAME traits<Joint>::DTypeConstRef DTypeConstRef; \
25			typedef TYPENAME traits<Joint>::DTypeRef DTypeRef; \
26			typedef TYPENAME traits<Joint>::UDTypeConstRef UDTypeConstRef; \
27			typedef TYPENAME traits<Joint>::UDTypeRef UDTypeRef
28
29			#ifdef __clang__
30
31			#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,PINOCCHIO_EMPTY_ARG)
32			#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)
33
34			#elif (__GNUC__ == 4) && (__GNUC_MINOR__ == 4) && (__GNUC_PATCHLEVEL__ == 2)
35
36			#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,PINOCCHIO_EMPTY_ARG)
37			#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)
38
39			#else
40
41			#define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)
42			#define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,typename)
43
44			#endif
45
46			#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \
47			ConstraintTypeConstRef S_accessor() const { return S; } \
48			ConstraintTypeRef S_accessor() { return S; } \
49			TansformTypeConstRef M_accessor() const { return M; } \
50			TansformTypeRef M_accessor() { return M; } \
51			MotionTypeConstRef v_accessor() const { return v; } \
52			MotionTypeRef v_accessor() { return v; } \
53			BiasTypeConstRef c_accessor() const { return c; } \
54			BiasTypeRef c_accessor() { return c; } \
55			UTypeConstRef U_accessor() const { return U; } \
56			UTypeRef U_accessor() { return U; } \
57			DTypeConstRef Dinv_accessor() const { return Dinv; } \
58			DTypeRef Dinv_accessor() { return Dinv; } \
59			UDTypeConstRef UDinv_accessor() const { return UDinv; } \
60			UDTypeRef UDinv_accessor() { return UDinv; }
61
62			#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \
63			typedef const Constraint_t & ConstraintTypeConstRef; \
64			typedef Constraint_t & ConstraintTypeRef; \
65			typedef const Transformation_t & TansformTypeConstRef; \
66			typedef Transformation_t & TansformTypeRef; \
67			typedef const Motion_t & MotionTypeConstRef; \
68			typedef Motion_t & MotionTypeRef; \
69			typedef const Bias_t & BiasTypeConstRef; \
70			typedef Bias_t & BiasTypeRef; \
71			typedef const U_t & UTypeConstRef; \
72			typedef U_t & UTypeRef; \
73			typedef const D_t & DTypeConstRef; \
74			typedef D_t & DTypeRef; \
75			typedef const UD_t & UDTypeConstRef; \
76			typedef UD_t & UDTypeRef;
77
78			namespace pinocchio
79			{
80
81			template<typename Derived>
82			struct JointDataBase
83			{
84			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
85
86			typedef typename traits<Derived>::JointDerived JointDerived;
87			PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
88
89		2262998	Derived & derived() { return static_cast<Derived>(this); }
90		32252	const Derived & derived() const { return static_cast<const Derived>(this); }
91
92		5112	ConstraintTypeConstRef S() const { return derived().S_accessor(); }
93		165078	ConstraintTypeRef S() { return derived().S_accessor(); }
94		3071	TansformTypeConstRef M() const { return derived().M_accessor(); }
95		889124	TansformTypeRef M() { return derived().M_accessor(); }
96		2740	MotionTypeConstRef v() const { return derived().v_accessor(); }
97		167444	MotionTypeRef v() { return derived().v_accessor(); }
98		2740	BiasTypeConstRef c() const { return derived().c_accessor(); }
99		78182	BiasTypeRef c() { return derived().c_accessor(); }
100
101		4472	UTypeConstRef U() const { return derived().U_accessor(); }
102		4028	UTypeRef U() { return derived().U_accessor(); }
103		2740	DTypeConstRef Dinv() const { return derived().Dinv_accessor(); }
104		18512	DTypeRef Dinv() { return derived().Dinv_accessor(); }
105		2740	UDTypeConstRef UDinv() const { return derived().UDinv_accessor(); }
106		28132	UDTypeRef UDinv() { return derived().UDinv_accessor(); }
107
108		86	std::string shortname() const { return derived().shortname(); }
109		84	static std::string classname() { return Derived::classname(); }
110
111		42	void disp(std::ostream & os) const
112			{
113			using namespace std;
114	✓✗✓✗	42	os << shortname() << endl;
115		42	}
116
117		42	friend std::ostream & operator << (std::ostream & os, const JointDataBase<Derived> & joint)
118			{
119		42	joint.disp(os);
120		42	return os;
121			}
122
123			template<typename OtherDerived>
124		1104	bool operator==(const JointDataBase<OtherDerived> & other) const
125			{
126		1104	return derived().isEqual(other.derived());
127			}
128
129			/// \brief Default operator== implementation
130		1780	bool isEqual(const JointDataBase & other) const
131			{
132	✓✗✗✗ ✗✗	1780	return S() == other.S()
133	✓✗✓✓ ✗✓✗✓ ✓	1772	&& M() == other.M()
134	✓✗✓✓ ✗✓✗✓ ✗	1620	&& v() == other.v()
135	✓✗✓✓ ✗✓✗✓ ✗	1620	&& c() == other.c()
136	✓✗✓✓ ✗✓✗✓ ✗✓✓✓ ✗✗✗✗ ✗	2376	&& U() == other.U()
137	✓✗✓✓ ✗✓✗✓ ✗✓✓✓ ✓✗✗✗ ✗	2376	&& Dinv() == other.Dinv()
138	✓✓✗✓ ✓✗✓✗ ✓✓✓✗ ✓✗✓✗ ✓✗✓✓ ✓✓✓✓ ✗✗✗✗	4308	&& UDinv() == other.UDinv()
139			;
140			}
141
142			/// \brief Default operator== implementation
143			template<typename OtherDerived>
144			bool isEqual(const JointDataBase<OtherDerived> & /other/) const
145			{
146			return false;
147			;
148			}
149
150			bool operator!=(const JointDataBase<Derived> & other) const
151			{
152			return derived().isNotEqual(other.derived());
153			}
154
155			/// \brief Default operator!= implementation
156			bool isNotEqual(const JointDataBase<Derived> & other) const
157			{
158			return !(derived() == other.derived());
159			}
160
161			protected:
162
163			/// \brief Default constructor: protected.
164		130472	inline JointDataBase() {}
165
166			}; // struct JointDataBase
167
168			} // namespace pinocchio
169
170			#endif // ifndef __pinocchio_multibody_joint_data_base_hpp__