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GCC Code Coverage Report

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File:	include/pinocchio/multibody/visitor/joint-unary-visitor.hpp	Lines:	44	44	100.0 %
Date:	2024-04-26 13:14:21	Branches:	19	38	50.0 %


//
// Copyright (c) 2015-2021 CNRS INRIA
//

#ifndef __pinocchio_multibody_visitior_joint_unary_visitor_hpp__
#define __pinocchio_multibody_visitior_joint_unary_visitor_hpp__

#include <boost/variant.hpp>

#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/visitor/fusion.hpp"

namespace pinocchio
{
  namespace fusion
  {
    namespace bf = boost::fusion;

    typedef boost::blank NoArg;

    ///
    /// \brief Base structure for \b Unary visitation of a JointModel.
    ///        This structure provides runners to call the right visitor according to the number of arguments.
    ///        This should be used when deriving new rigid body algorithms.
    ///
    template<typename JointVisitorDerived, typename ReturnType = void>
    struct JointUnaryVisitorBase
    {

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
      static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
                            JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
                            ArgsTmp args)
      {
        InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,ArgsTmp> visitor(jdata,args);
        return boost::apply_visitor(visitor,jmodel);
      }

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
      static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
                            JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata)
      {
        InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,NoArg> visitor(jdata);
        return boost::apply_visitor(visitor,jmodel);
      }

      template<typename JointModelDerived, typename ArgsTmp>
      static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
                            typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
                            ArgsTmp args)
      {
        InternalVisitorModelAndData<JointModelDerived,ArgsTmp> visitor(jdata,args);
        return visitor(jmodel.derived());
      }

      template<typename JointModelDerived>
      static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
                            typename JointModelBase<JointModelDerived>::JointDataDerived & jdata)
      {
        InternalVisitorModelAndData<JointModelDerived,NoArg> visitor(jdata);
        return visitor(jmodel.derived());
      }

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
      static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
                            ArgsTmp args)
      {
        InternalVisitorModel<ArgsTmp> visitor(args);
        return boost::apply_visitor(visitor,jmodel);
      }

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
      static ReturnType run(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
                            ArgsTmp args)
      {
        InternalVisitorModel<ArgsTmp> visitor(args);
        return boost::apply_visitor(visitor,jdata);
      }

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
      static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel)
      {
        InternalVisitorModel<NoArg> visitor;
        return boost::apply_visitor(visitor,jmodel);
      }

      template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
      static ReturnType run(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata)
      {
        InternalVisitorModel<NoArg> visitor;
        return boost::apply_visitor(visitor,jdata);
      }

      template<typename JointModelDerived, typename ArgsTmp>
      static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
                            ArgsTmp args)
      {
        InternalVisitorModel<ArgsTmp> visitor(args);
        return visitor(jmodel.derived());
      }

      template<typename JointDataDerived, typename ArgsTmp>
      static ReturnType run(const JointDataBase<JointDataDerived> & jdata,
                            ArgsTmp args)
      {
        InternalVisitorModel<ArgsTmp> visitor(args);
        return visitor(jdata.derived());
      }

      template<typename JointModelDerived>
      static ReturnType run(const JointModelBase<JointModelDerived> & jmodel)
      {
        InternalVisitorModel<NoArg> visitor;
        return visitor(jmodel.derived());
      }

      template<typename JointDataDerived>
      static ReturnType run(const JointDataBase<JointDataDerived> & jdata)
      {
        InternalVisitorModel<NoArg> visitor;
        return visitor(jdata.derived());
      }

    private:

      template<typename JointModel, typename ArgType>
      struct InternalVisitorModelAndData
      : public boost::static_visitor<ReturnType>
      {
        typedef typename JointModel::JointDataDerived JointData;

        InternalVisitorModelAndData(JointData & jdata, ArgType args)
        : jdata(jdata), args(args)
        {}

        template<typename JointModelDerived>
        ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
        {
          return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
                            bf::append(boost::ref(jmodel.derived()),
                                       boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)),
                                       args));
        }

        ReturnType operator()(const JointModelVoid) {return;}

        JointData & jdata;
        ArgType args;
      };

      template<typename JointModel>
      struct InternalVisitorModelAndData<JointModel,NoArg>
      : public boost::static_visitor<ReturnType>
      {
        typedef typename JointModel::JointDataDerived JointData;

        InternalVisitorModelAndData(JointData & jdata)
        : jdata(jdata)
        {}

        template<typename JointModelDerived>
        ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
        {
          return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
                            bf::make_vector(boost::ref(jmodel.derived()),
                                            boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata))));
        }

        JointData & jdata;
      };

      template<typename ArgType, typename Dummy = void>
      struct InternalVisitorModel
      : public boost::static_visitor<ReturnType>
      {
        InternalVisitorModel(ArgType args)
        : args(args)
        {}

        template<typename JointModelDerived>
        ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
        {
          return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
                            bf::append(boost::ref(jmodel.derived()),
                                       args));
        }

        template<typename JointDataDerived>
        ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
        {
          return bf::invoke(&JointVisitorDerived::template algo<JointDataDerived>,
                            bf::append(boost::ref(jdata.derived()),
                                       args));
        }

        ReturnType operator()(const JointModelVoid) {return;}

        ArgType args;
      };

      template<typename Dummy>
      struct InternalVisitorModel<NoArg,Dummy>
      : public boost::static_visitor<ReturnType>
      {
        InternalVisitorModel() {}

        template<typename JointModelDerived>
        ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
        {
          return JointVisitorDerived::template algo<JointModelDerived>(jmodel.derived());
        }

        template<typename JointDataDerived>
        ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
        {
          return JointVisitorDerived::template algo<JointDataDerived>(jdata.derived());
        }
      };
    }; // struct JointUnaryVisitorBase

    ///
    /// \brief This helper structure is now deprecated and has been replaced by JointUnaryVisitorBase.
    ///
    template<typename JointVisitorDerived, typename ReturnType = void>
    struct PINOCCHIO_DEPRECATED JointVisitorBase
    : JointUnaryVisitorBase<JointVisitorDerived,ReturnType>
    {
      typedef JointUnaryVisitorBase<JointVisitorDerived,ReturnType> Base;
      using Base::run;
    };

  } // namespace fusion
} // namespace pinocchio

#endif // ifndef __pinocchio_multibody_visitior_joint_unary_visitor_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2021 CNRS INRIA
3			//
4
5			#ifndef __pinocchio_multibody_visitior_joint_unary_visitor_hpp__
6			#define __pinocchio_multibody_visitior_joint_unary_visitor_hpp__
7
8			#include <boost/variant.hpp>
9
10			#include "pinocchio/multibody/joint/joint-base.hpp"
11			#include "pinocchio/multibody/visitor/fusion.hpp"
12
13			namespace pinocchio
14			{
15			namespace fusion
16			{
17			namespace bf = boost::fusion;
18
19			typedef boost::blank NoArg;
20
21			///
22			/// \brief Base structure for \b Unary visitation of a JointModel.
23			/// This structure provides runners to call the right visitor according to the number of arguments.
24			/// This should be used when deriving new rigid body algorithms.
25			///
26			template<typename JointVisitorDerived, typename ReturnType = void>
27			struct JointUnaryVisitorBase
28			{
29
30			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
31		959754	static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
32			JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
33			ArgsTmp args)
34			{
35	✓✗✓✗	959754	InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,ArgsTmp> visitor(jdata,args);
36	✓✗	1919508	return boost::apply_visitor(visitor,jmodel);
37			}
38
39			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
40		21	static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
41			JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata)
42			{
43		21	InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,NoArg> visitor(jdata);
44	✓✗	42	return boost::apply_visitor(visitor,jmodel);
45			}
46
47			template<typename JointModelDerived, typename ArgsTmp>
48			static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
49			typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
50			ArgsTmp args)
51			{
52			InternalVisitorModelAndData<JointModelDerived,ArgsTmp> visitor(jdata,args);
53			return visitor(jmodel.derived());
54			}
55
56			template<typename JointModelDerived>
57			static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
58			typename JointModelBase<JointModelDerived>::JointDataDerived & jdata)
59			{
60			InternalVisitorModelAndData<JointModelDerived,NoArg> visitor(jdata);
61			return visitor(jmodel.derived());
62			}
63
64			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
65		121057	static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
66			ArgsTmp args)
67			{
68	✓✗✓✗	121057	InternalVisitorModel<ArgsTmp> visitor(args);
69	✓✗	242114	return boost::apply_visitor(visitor,jmodel);
70			}
71
72			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ArgsTmp>
73		80	static ReturnType run(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
74			ArgsTmp args)
75			{
76	✓✗✓✗	80	InternalVisitorModel<ArgsTmp> visitor(args);
77	✓✗	160	return boost::apply_visitor(visitor,jdata);
78			}
79
80			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
81		331	static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel)
82			{
83		331	InternalVisitorModel<NoArg> visitor;
84	✓✗	662	return boost::apply_visitor(visitor,jmodel);
85			}
86
87			template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
88			static ReturnType run(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata)
89			{
90			InternalVisitorModel<NoArg> visitor;
91			return boost::apply_visitor(visitor,jdata);
92			}
93
94			template<typename JointModelDerived, typename ArgsTmp>
95			static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
96			ArgsTmp args)
97			{
98			InternalVisitorModel<ArgsTmp> visitor(args);
99			return visitor(jmodel.derived());
100			}
101
102			template<typename JointDataDerived, typename ArgsTmp>
103			static ReturnType run(const JointDataBase<JointDataDerived> & jdata,
104			ArgsTmp args)
105			{
106			InternalVisitorModel<ArgsTmp> visitor(args);
107			return visitor(jdata.derived());
108			}
109
110			template<typename JointModelDerived>
111			static ReturnType run(const JointModelBase<JointModelDerived> & jmodel)
112			{
113			InternalVisitorModel<NoArg> visitor;
114			return visitor(jmodel.derived());
115			}
116
117			template<typename JointDataDerived>
118			static ReturnType run(const JointDataBase<JointDataDerived> & jdata)
119			{
120			InternalVisitorModel<NoArg> visitor;
121			return visitor(jdata.derived());
122			}
123
124			private:
125
126			template<typename JointModel, typename ArgType>
127			struct InternalVisitorModelAndData
128			: public boost::static_visitor<ReturnType>
129			{
130			typedef typename JointModel::JointDataDerived JointData;
131
132		959754	InternalVisitorModelAndData(JointData & jdata, ArgType args)
133		959754	: jdata(jdata), args(args)
134		959754	{}
135
136			template<typename JointModelDerived>
137		956498	ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
138			{
139	✓✗	956498	return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
140	✓✗	956498	bf::append(boost::ref(jmodel.derived()),
141		1912996	boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)),
142		1912996	args));
143			}
144
145			ReturnType operator()(const JointModelVoid) {return;}
146
147			JointData & jdata;
148			ArgType args;
149			};
150
151			template<typename JointModel>
152			struct InternalVisitorModelAndData<JointModel,NoArg>
153			: public boost::static_visitor<ReturnType>
154			{
155			typedef typename JointModel::JointDataDerived JointData;
156
157		21	InternalVisitorModelAndData(JointData & jdata)
158		21	: jdata(jdata)
159		21	{}
160
161			template<typename JointModelDerived>
162		42	ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
163			{
164	✓✗	42	return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
165	✓✗	42	bf::make_vector(boost::ref(jmodel.derived()),
166		126	boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata))));
167			}
168
169			JointData & jdata;
170			};
171
172			template<typename ArgType, typename Dummy = void>
173			struct InternalVisitorModel
174			: public boost::static_visitor<ReturnType>
175			{
176		121137	InternalVisitorModel(ArgType args)
177		121137	: args(args)
178		121137	{}
179
180			template<typename JointModelDerived>
181		63416	ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
182			{
183	✓✗	63416	return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
184	✓✗	66030	bf::append(boost::ref(jmodel.derived()),
185		129446	args));
186			}
187
188			template<typename JointDataDerived>
189		80	ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
190			{
191	✓✗	80	return bf::invoke(&JointVisitorDerived::template algo<JointDataDerived>,
192	✓✗	160	bf::append(boost::ref(jdata.derived()),
193		240	args));
194			}
195
196			ReturnType operator()(const JointModelVoid) {return;}
197
198			ArgType args;
199			};
200
201			template<typename Dummy>
202			struct InternalVisitorModel<NoArg,Dummy>
203			: public boost::static_visitor<ReturnType>
204			{
205		331	InternalVisitorModel() {}
206
207			template<typename JointModelDerived>
208		176	ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
209			{
210		176	return JointVisitorDerived::template algo<JointModelDerived>(jmodel.derived());
211			}
212
213			template<typename JointDataDerived>
214			ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
215			{
216			return JointVisitorDerived::template algo<JointDataDerived>(jdata.derived());
217			}
218			};
219			}; // struct JointUnaryVisitorBase
220
221			///
222			/// \brief This helper structure is now deprecated and has been replaced by JointUnaryVisitorBase.
223			///
224			template<typename JointVisitorDerived, typename ReturnType = void>
225			struct PINOCCHIO_DEPRECATED JointVisitorBase
226			: JointUnaryVisitorBase<JointVisitorDerived,ReturnType>
227			{
228			typedef JointUnaryVisitorBase<JointVisitorDerived,ReturnType> Base;
229			using Base::run;
230			};
231
232			} // namespace fusion
233			} // namespace pinocchio
234
235			#endif // ifndef __pinocchio_multibody_visitior_joint_unary_visitor_hpp__