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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/pinocchio/spatial/force-ref.hpp	Lines:	15	15	100.0 %
Date:	2024-04-26 13:14:21	Branches:	2	4	50.0 %


//
// Copyright (c) 2017-2019 CNRS INRIA
//

#ifndef __pinocchio_force_ref_hpp__
#define __pinocchio_force_ref_hpp__

namespace pinocchio
{

  template<typename Vector6ArgType>
  struct traits< ForceRef<Vector6ArgType> >
  {
    typedef typename Vector6ArgType::Scalar Scalar;
    typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6;
    enum {
      LINEAR = 0,
      ANGULAR = 3,
      Options = Vector6::Options
    };
    typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
    typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4;
    typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
    typedef Matrix6 ActionMatrixType;
    typedef Matrix4 HomogeneousMatrixType;
    typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type LinearType;
    typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type AngularType;
    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
    typedef ForceTpl<Scalar,Options> ForcePlain;
    typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) DataRefType;
    typedef DataRefType ToVectorReturnType;
    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType;
    typedef ConstDataRefType ToVectorConstReturnType;
    typedef ForceRef<Vector6ArgType> ForceRefType;

  }; // traits ForceRef

    template<typename Vector6ArgType>
    struct SE3GroupAction< ForceRef<Vector6ArgType> >
    {
      typedef typename traits< ForceRef<Vector6ArgType> >::ForcePlain ReturnType;
    };

    template<typename Vector6ArgType, typename MotionDerived>
    struct MotionAlgebraAction< ForceRef<Vector6ArgType>, MotionDerived >
    {
      typedef typename traits< ForceRef<Vector6ArgType> >::ForcePlain ReturnType;
    };

  template<typename Vector6ArgType>
  class ForceRef : public ForceDense< ForceRef<Vector6ArgType> >
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef ForceDense<ForceRef> Base;
    typedef typename traits<ForceRef>::DataRefType DataRefType;
    FORCE_TYPEDEF_TPL(ForceRef);

    using Base::operator=;
    using Base::operator==;
    using Base::operator!=;

    /// \brief Default constructor from a 6 dimensional vector.
    ForceRef(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)
    : m_ref(f_like)
    {
      EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1,
                          YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX);
      assert(f_like.size() == 6);
    }

    /// \brief Copy constructor from another ForceRef.
    ForceRef(const ForceRef & other)
    : m_ref(other.m_ref)
    {}

    ToVectorConstReturnType toVector_impl() const { return m_ref; }
    ToVectorReturnType toVector_impl() { return m_ref; }

    // Getters
    ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); }
    ConstLinearType linear_impl()  const { return ConstLinearType(m_ref.derived(),LINEAR); }
    AngularType angular_impl() { return m_ref.template segment<3> (ANGULAR); }
    LinearType linear_impl()  { return m_ref.template segment<3> (LINEAR); }

    template<typename V3>
    void angular_impl(const Eigen::MatrixBase<V3> & w)
    {
      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
      angular_impl()=w;
    }

    template<typename V3>
    void linear_impl(const Eigen::MatrixBase<V3> & v)
    {
      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
      linear_impl()=v;
    }

    ForceRef & ref() { return *this; }

  protected:
    DataRefType m_ref;

  }; // class ForceRef<Vector6Like>

  template<typename Vector6ArgType>
  struct traits< ForceRef<const Vector6ArgType> >
  {
    typedef typename Vector6ArgType::Scalar Scalar;
    typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6;
    enum {
      LINEAR = 0,
      ANGULAR = 3,
      Options = Vector6::Options
    };
    typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
    typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
    typedef Matrix6 ActionMatrixType;
    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
    typedef ConstLinearType LinearType;
    typedef ConstAngularType AngularType;
    typedef ForceTpl<Scalar,Options> ForcePlain;
    typedef ForcePlain PlainReturnType;
    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType;
    typedef ConstDataRefType ToVectorConstReturnType;
    typedef ConstDataRefType DataRefType;
    typedef DataRefType ToVectorReturnType;
    typedef ForceRef<const Vector6ArgType> ForceRefType;

  }; // traits ForceRef<const Vector6ArgType>

  template<typename Vector6ArgType>
  class ForceRef<const Vector6ArgType>
  : public ForceDense< ForceRef<const Vector6ArgType> >
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef ForceDense<ForceRef> Base;
    typedef typename traits<ForceRef>::DataRefType DataRefType;
    FORCE_TYPEDEF_TPL(ForceRef);

    ForceRef(typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) f_like)
    : m_ref(f_like)
    {
      EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1,
                          YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX);
      assert(f_like.size() == 6);
    }

    ToVectorConstReturnType toVector_impl() const { return m_ref; }

    // Getters
    ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); }
    ConstLinearType linear_impl()  const { return ConstLinearType(m_ref.derived(),LINEAR); }

    const ForceRef & ref() const { return *this; }

  protected:
    DataRefType m_ref;

  }; // class ForceRef<Vector6Like>

} // namespace pinocchio

#endif // ifndef __pinocchio_force_ref_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2017-2019 CNRS INRIA
3			//
4
5			#ifndef __pinocchio_force_ref_hpp__
6			#define __pinocchio_force_ref_hpp__
7
8			namespace pinocchio
9			{
10
11			template<typename Vector6ArgType>
12			struct traits< ForceRef<Vector6ArgType> >
13			{
14			typedef typename Vector6ArgType::Scalar Scalar;
15			typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6;
16			enum {
17			LINEAR = 0,
18			ANGULAR = 3,
19			Options = Vector6::Options
20			};
21			typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
22			typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4;
23			typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
24			typedef Matrix6 ActionMatrixType;
25			typedef Matrix4 HomogeneousMatrixType;
26			typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type LinearType;
27			typedef typename Vector6ArgType::template FixedSegmentReturnType<3>::Type AngularType;
28			typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
29			typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
30			typedef ForceTpl<Scalar,Options> ForcePlain;
31			typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) DataRefType;
32			typedef DataRefType ToVectorReturnType;
33			typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType;
34			typedef ConstDataRefType ToVectorConstReturnType;
35			typedef ForceRef<Vector6ArgType> ForceRefType;
36
37			}; // traits ForceRef
38
39			template<typename Vector6ArgType>
40			struct SE3GroupAction< ForceRef<Vector6ArgType> >
41			{
42			typedef typename traits< ForceRef<Vector6ArgType> >::ForcePlain ReturnType;
43			};
44
45			template<typename Vector6ArgType, typename MotionDerived>
46			struct MotionAlgebraAction< ForceRef<Vector6ArgType>, MotionDerived >
47			{
48			typedef typename traits< ForceRef<Vector6ArgType> >::ForcePlain ReturnType;
49			};
50
51			template<typename Vector6ArgType>
52			class ForceRef : public ForceDense< ForceRef<Vector6ArgType> >
53			{
54			public:
55			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56			typedef ForceDense<ForceRef> Base;
57			typedef typename traits<ForceRef>::DataRefType DataRefType;
58			FORCE_TYPEDEF_TPL(ForceRef);
59
60			using Base::operator=;
61			using Base::operator==;
62			using Base::operator!=;
63
64			/// \brief Default constructor from a 6 dimensional vector.
65		111311	ForceRef(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)
66		111311	: m_ref(f_like)
67			{
68			EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1,
69			YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX);
70	✗✓	111311	assert(f_like.size() == 6);
71		111311	}
72
73			/// \brief Copy constructor from another ForceRef.
74			ForceRef(const ForceRef & other)
75			: m_ref(other.m_ref)
76			{}
77
78			ToVectorConstReturnType toVector_impl() const { return m_ref; }
79			ToVectorReturnType toVector_impl() { return m_ref; }
80
81			// Getters
82		416	ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); }
83		814	ConstLinearType linear_impl() const { return ConstLinearType(m_ref.derived(),LINEAR); }
84		155916	AngularType angular_impl() { return m_ref.template segment<3> (ANGULAR); }
85		78484	LinearType linear_impl() { return m_ref.template segment<3> (LINEAR); }
86
87			template<typename V3>
88			void angular_impl(const Eigen::MatrixBase<V3> & w)
89			{
90			EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
91			angular_impl()=w;
92			}
93
94			template<typename V3>
95			void linear_impl(const Eigen::MatrixBase<V3> & v)
96			{
97			EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
98			linear_impl()=v;
99			}
100
101		2	ForceRef & ref() { return *this; }
102
103			protected:
104			DataRefType m_ref;
105
106			}; // class ForceRef<Vector6Like>
107
108			template<typename Vector6ArgType>
109			struct traits< ForceRef<const Vector6ArgType> >
110			{
111			typedef typename Vector6ArgType::Scalar Scalar;
112			typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6;
113			enum {
114			LINEAR = 0,
115			ANGULAR = 3,
116			Options = Vector6::Options
117			};
118			typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
119			typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
120			typedef Matrix6 ActionMatrixType;
121			typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
122			typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
123			typedef ConstLinearType LinearType;
124			typedef ConstAngularType AngularType;
125			typedef ForceTpl<Scalar,Options> ForcePlain;
126			typedef ForcePlain PlainReturnType;
127			typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType;
128			typedef ConstDataRefType ToVectorConstReturnType;
129			typedef ConstDataRefType DataRefType;
130			typedef DataRefType ToVectorReturnType;
131			typedef ForceRef<const Vector6ArgType> ForceRefType;
132
133			}; // traits ForceRef<const Vector6ArgType>
134
135			template<typename Vector6ArgType>
136			class ForceRef<const Vector6ArgType>
137			: public ForceDense< ForceRef<const Vector6ArgType> >
138			{
139			public:
140			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
141			typedef ForceDense<ForceRef> Base;
142			typedef typename traits<ForceRef>::DataRefType DataRefType;
143			FORCE_TYPEDEF_TPL(ForceRef);
144
145		13290	ForceRef(typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) f_like)
146		13290	: m_ref(f_like)
147			{
148			EIGEN_STATIC_ASSERT(Vector6ArgType::ColsAtCompileTime == 1,
149			YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX);
150	✗✓	13290	assert(f_like.size() == 6);
151		13290	}
152
153			ToVectorConstReturnType toVector_impl() const { return m_ref; }
154
155			// Getters
156		13290	ConstAngularType angular_impl() const { return ConstAngularType(m_ref.derived(),ANGULAR); }
157		8843	ConstLinearType linear_impl() const { return ConstLinearType(m_ref.derived(),LINEAR); }
158
159			const ForceRef & ref() const { return *this; }
160
161			protected:
162			DataRefType m_ref;
163
164			}; // class ForceRef<Vector6Like>
165
166			} // namespace pinocchio
167
168			#endif // ifndef __pinocchio_force_ref_hpp__