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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/pinocchio/spatial/force-tpl.hpp	Lines:	31	36	86.1 %
Date:	2024-04-26 13:14:21	Branches:	15	34	44.1 %


//
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_force_tpl_hpp__
#define __pinocchio_force_tpl_hpp__

namespace pinocchio
{
  template<typename _Scalar, int _Options>
  struct traits< ForceTpl<_Scalar, _Options> >
  {
    typedef _Scalar Scalar;
    typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
    typedef Eigen::Matrix<Scalar,6,1,_Options> Vector6;
    typedef Eigen::Matrix<Scalar,6,6,_Options> Matrix6;
    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
    typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
    typedef typename Vector6::template FixedSegmentReturnType<3>::Type LinearType;
    typedef typename Vector6::template FixedSegmentReturnType<3>::Type AngularType;
    typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
    typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
    typedef ForceTpl<Scalar,_Options> ForcePlain;
    enum {
      LINEAR = 0,
      ANGULAR = 3,
      Options = _Options
    };

    typedef ForceRef<Vector6> ForceRefType;
  }; // traits ForceTpl

  template<typename _Scalar, int _Options>
  class ForceTpl : public ForceDense< ForceTpl<_Scalar, _Options> >
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef ForceDense<ForceTpl> Base;
    FORCE_TYPEDEF_TPL(ForceTpl);
    enum { Options = _Options };

    using Base::operator=;
    using Base::operator!=;
    using Base::linear;
    using Base::angular;

    // Constructors
    ForceTpl() : m_data() {}

    template<typename V1,typename V2>
    ForceTpl(const Eigen::MatrixBase<V1> & v, const Eigen::MatrixBase<V2> & w)
    {
      assert(v.size() == 3);
      assert(w.size() == 3);
      linear() = v; angular() = w;
    }

    template<typename V6>
    explicit ForceTpl(const Eigen::MatrixBase<V6> & v)
    : m_data(v)
    {
      EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6);
      assert(v.size() == 6);
    }

    ForceTpl(const ForceTpl & clone) // Copy constructor
    : m_data(clone.toVector())
    {}

    ForceTpl& operator=(const ForceTpl & clone)  // Copy assignment operator
    {
      m_data = clone.toVector();
      return *this;
    }

    template<int O2>
    explicit ForceTpl(const ForceTpl<Scalar,O2> & clone)
    : m_data(clone.toVector())
    {}

    template<typename M2>
    explicit ForceTpl(const ForceDense<M2> & clone)
    { linear() = clone.linear(); angular() = clone.angular(); }

    // initializers
    static ForceTpl Zero()   { return ForceTpl(Vector6::Zero());   }
    static ForceTpl Random() { return ForceTpl(Vector6::Random()); }

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

    // Getters
    ConstAngularType angular_impl() const { return m_data.template segment<3> (ANGULAR); }
    ConstLinearType linear_impl()  const { return m_data.template segment<3> (LINEAR); }
    AngularType angular_impl() { return m_data.template segment<3> (ANGULAR); }
    LinearType linear_impl()  { return m_data.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<Vector6> ref() { return ForceRef<Vector6>(m_data); }

    /// \returns An expression of *this with the Scalar type casted to NewScalar.
    template<typename NewScalar>
    ForceTpl<NewScalar,Options> cast() const
    {
      typedef ForceTpl<NewScalar,Options> ReturnType;
      ReturnType res(linear().template cast<NewScalar>(),
                     angular().template cast<NewScalar>());
      return res;
    }

  protected:
    Vector6 m_data;

  }; // class ForceTpl

} // namespace pinocchio

#endif // ifndef __pinocchio_force_tpl_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2019 CNRS INRIA
3			// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4			//
5
6			#ifndef __pinocchio_force_tpl_hpp__
7			#define __pinocchio_force_tpl_hpp__
8
9			namespace pinocchio
10			{
11			template<typename _Scalar, int _Options>
12			struct traits< ForceTpl<_Scalar, _Options> >
13			{
14			typedef _Scalar Scalar;
15			typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
16			typedef Eigen::Matrix<Scalar,6,1,_Options> Vector6;
17			typedef Eigen::Matrix<Scalar,6,6,_Options> Matrix6;
18			typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
19			typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
20			typedef typename Vector6::template FixedSegmentReturnType<3>::Type LinearType;
21			typedef typename Vector6::template FixedSegmentReturnType<3>::Type AngularType;
22			typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
23			typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
24			typedef ForceTpl<Scalar,_Options> ForcePlain;
25			enum {
26			LINEAR = 0,
27			ANGULAR = 3,
28			Options = _Options
29			};
30
31			typedef ForceRef<Vector6> ForceRefType;
32			}; // traits ForceTpl
33
34			template<typename _Scalar, int _Options>
35			class ForceTpl : public ForceDense< ForceTpl<_Scalar, _Options> >
36			{
37			public:
38			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39			typedef ForceDense<ForceTpl> Base;
40			FORCE_TYPEDEF_TPL(ForceTpl);
41			enum { Options = _Options };
42
43			using Base::operator=;
44			using Base::operator!=;
45			using Base::linear;
46			using Base::angular;
47
48			// Constructors
49		125246	ForceTpl() : m_data() {}
50
51			template<typename V1,typename V2>
52		35733	ForceTpl(const Eigen::MatrixBase<V1> & v, const Eigen::MatrixBase<V2> & w)
53		35733	{
54	✗✓	35733	assert(v.size() == 3);
55	✗✓	35733	assert(w.size() == 3);
56	✓✗✓✗	35733	linear() = v; angular() = w;
57		35733	}
58
59			template<typename V6>
60		2979	explicit ForceTpl(const Eigen::MatrixBase<V6> & v)
61		2979	: m_data(v)
62			{
63			EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6);
64	✗✓	2979	assert(v.size() == 6);
65		2979	}
66
67		46944	ForceTpl(const ForceTpl & clone) // Copy constructor
68		46944	: m_data(clone.toVector())
69		46944	{}
70
71		38998	ForceTpl& operator=(const ForceTpl & clone) // Copy assignment operator
72			{
73		38998	m_data = clone.toVector();
74		38998	return *this;
75			}
76
77			template<int O2>
78			explicit ForceTpl(const ForceTpl<Scalar,O2> & clone)
79			: m_data(clone.toVector())
80			{}
81
82			template<typename M2>
83		1	explicit ForceTpl(const ForceDense<M2> & clone)
84	✓✗✓✗ ✓✗✓✗	1	{ linear() = clone.linear(); angular() = clone.angular(); }
85
86			// initializers
87	✓✗	2384	static ForceTpl Zero() { return ForceTpl(Vector6::Zero()); }
88	✓✗	46	static ForceTpl Random() { return ForceTpl(Vector6::Random()); }
89
90		86834	ToVectorConstReturnType toVector_impl() const { return m_data; }
91		11742	ToVectorReturnType toVector_impl() { return m_data; }
92
93			// Getters
94		219172	ConstAngularType angular_impl() const { return m_data.template segment<3> (ANGULAR); }
95		233878	ConstLinearType linear_impl() const { return m_data.template segment<3> (LINEAR); }
96		334628	AngularType angular_impl() { return m_data.template segment<3> (ANGULAR); }
97		340687	LinearType linear_impl() { return m_data.template segment<3> (LINEAR); }
98
99			template<typename V3>
100			void angular_impl(const Eigen::MatrixBase<V3> & w)
101			{
102			EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
103			angular_impl()=w;
104			}
105			template<typename V3>
106			void linear_impl(const Eigen::MatrixBase<V3> & v)
107			{
108			EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3,3);
109			linear_impl()=v;
110			}
111
112		2	ForceRef<Vector6> ref() { return ForceRef<Vector6>(m_data); }
113
114			/// \returns An expression of *this with the Scalar type casted to NewScalar.
115			template<typename NewScalar>
116		2	ForceTpl<NewScalar,Options> cast() const
117			{
118			typedef ForceTpl<NewScalar,Options> ReturnType;
119	✓✗✓✗ ✓✗✓✗	2	ReturnType res(linear().template cast<NewScalar>(),
120			angular().template cast<NewScalar>());
121		2	return res;
122			}
123
124			protected:
125			Vector6 m_data;
126
127			}; // class ForceTpl
128
129			} // namespace pinocchio
130
131			#endif // ifndef __pinocchio_force_tpl_hpp__