GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
Date: 2024-08-27 18:20:05
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1 //
2 // Copyright (c) 2019 INRIA
3 //
4
5 #ifndef __pinocchio_multibody_visitor_joint_binary_visitor_hpp__
6 #define __pinocchio_multibody_visitor_joint_binary_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 Binary visitation of two JointModels.
23 /// This structure provides runners to call the right visitor according to the number of
24 /// arguments. This should be used when deriving new rigid body algorithms.
25 ///
26 template<typename JointVisitorDerived, typename ReturnType = void>
27 struct JointBinaryVisitorBase
28 {
29
30 template<typename JointModelDerived1, typename JointModelDerived2, typename ArgsTmp>
31 static ReturnType run(
32 const JointModelBase<JointModelDerived1> & jmodel1,
33 const JointModelBase<JointModelDerived2> & jmodel2,
34 typename JointModelBase<JointModelDerived1>::JointDataDerived & jdata1,
35 typename JointModelBase<JointModelDerived2>::JointDataDerived & jdata2,
36 ArgsTmp args)
37 {
38 InternalVisitorModelAndData<JointModelDerived1, JointModelDerived2, ArgsTmp> visitor(
39 jdata1, jdata2, args);
40 return visitor(jmodel1.derived(), jmodel2.derived());
41 }
42
43 template<
44 typename Scalar,
45 int Options,
46 template<typename, int>
47 class JointCollectionTpl,
48 typename ArgsTmp>
49 ✗ static ReturnType run(
50 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
51 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel2,
52 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata1,
53 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata2,
54 ArgsTmp args)
55 {
56 typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel;
57 ✗ InternalVisitorModelAndData<JointModel, JointModel, ArgsTmp> visitor(jdata1, jdata2, args);
58 ✗ return boost::apply_visitor(visitor, jmodel1, jmodel2);
59 }
60
61 template<typename JointModelDerived1, typename JointModelDerived2>
62 static ReturnType run(
63 const JointModelBase<JointModelDerived1> & jmodel1,
64 const JointModelBase<JointModelDerived2> & jmodel2,
65 typename JointModelBase<JointModelDerived1>::JointDataDerived & jdata1,
66 typename JointModelBase<JointModelDerived2>::JointDataDerived & jdata2)
67 {
68 InternalVisitorModelAndData<JointModelDerived1, JointModelDerived2, NoArg> visitor(
69 jdata1, jdata2);
70 return visitor(jmodel1.derived(), jmodel2.derived());
71 }
72
73 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
74 ✗ static ReturnType run(
75 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
76 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel2,
77 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata1,
78 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata2)
79 {
80 typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel;
81 ✗ InternalVisitorModelAndData<JointModel, JointModel, NoArg> visitor(jdata1, jdata2);
82 ✗ return boost::apply_visitor(visitor, jmodel1, jmodel2);
83 }
84
85 template<typename JointModelDerived1, typename JointModelDerived2, typename ArgsTmp>
86 static ReturnType run(
87 const JointModelBase<JointModelDerived1> & jmodel1,
88 const JointModelBase<JointModelDerived2> & jmodel2,
89 ArgsTmp args)
90 {
91 InternalVisitorModel<ArgsTmp> visitor(args);
92 return visitor(jmodel1.derived(), jmodel2.derived());
93 }
94
95 template<
96 typename Scalar,
97 int Options,
98 template<typename, int>
99 class JointCollectionTpl,
100 typename ArgsTmp>
101 ✗ static ReturnType run(
102 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
103 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel2,
104 ArgsTmp args)
105 {
106 ✗ InternalVisitorModel<ArgsTmp> visitor(args);
107 ✗ return boost::apply_visitor(visitor, jmodel1, jmodel2);
108 }
109
110 template<typename JointModelDerived1, typename JointModelDerived2>
111 static ReturnType run(
112 const JointModelBase<JointModelDerived1> & jmodel1,
113 const JointModelBase<JointModelDerived2> & jmodel2)
114 {
115 InternalVisitorModel<NoArg> visitor;
116 return visitor(jmodel1.derived(), jmodel2.derived());
117 }
118
119 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
120 ✗ static ReturnType run(
121 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
122 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel2)
123 {
124 ✗ InternalVisitorModel<NoArg> visitor;
125 ✗ return boost::apply_visitor(visitor, jmodel1, jmodel2);
126 }
127
128 private:
129 template<typename JointModel1, typename JointModel2, typename ArgType>
130 struct InternalVisitorModelAndData : public boost::static_visitor<ReturnType>
131 {
132 typedef typename JointModel1::JointDataDerived JointData1;
133 typedef typename JointModel2::JointDataDerived JointData2;
134
135 ✗ InternalVisitorModelAndData(JointData1 & jdata1, JointData2 & jdata2, ArgType args)
136 ✗ : jdata1(jdata1)
137 ✗ , jdata2(jdata2)
138 ✗ , args(args)
139 {
140 }
141
142 template<typename JointModelDerived1, typename JointModelDerived2>
143 ✗ ReturnType operator()(
144 const JointModelBase<JointModelDerived1> & jmodel1,
145 const JointModelBase<JointModelDerived2> & jmodel2) const
146 {
147 ✗ return bf::invoke(
148 &JointVisitorDerived::template algo<JointModelDerived1, JointModelDerived2>,
149 ✗ bf::append(
150 ✗ boost::ref(jmodel1.derived()), boost::ref(jmodel2.derived()),
151 ✗ boost::ref(
152 ✗ boost::get<typename JointModelBase<JointModelDerived1>::JointDataDerived>(jdata1)),
153 ✗ boost::ref(
154 ✗ boost::get<typename JointModelBase<JointModelDerived2>::JointDataDerived>(jdata2)),
155 ✗ args));
156 }
157
158 JointData1 & jdata1;
159 JointData2 & jdata2;
160
161 ArgType args;
162 };
163
164 template<typename JointModel1, typename JointModel2>
165 struct InternalVisitorModelAndData<JointModel1, JointModel2, NoArg>
166 : public boost::static_visitor<ReturnType>
167 {
168 typedef typename JointModel1::JointDataDerived JointData1;
169 typedef typename JointModel2::JointDataDerived JointData2;
170
171 ✗ InternalVisitorModelAndData(JointData1 & jdata1, JointData2 & jdata2)
172 ✗ : jdata1(jdata1)
173 ✗ , jdata2(jdata2)
174 {
175 }
176
177 template<typename JointModelDerived1, typename JointModelDerived2>
178 ✗ ReturnType operator()(
179 const JointModelBase<JointModelDerived1> & jmodel1,
180 const JointModelBase<JointModelDerived2> & jmodel2) const
181 {
182 ✗ return bf::invoke(
183 &JointVisitorDerived::template algo<JointModelDerived1, JointModelDerived2>,
184 bf::make_vector(
185 ✗ boost::ref(jmodel1.derived()), boost::ref(jmodel2.derived()),
186 ✗ boost::ref(
187 ✗ boost::get<typename JointModelBase<JointModelDerived1>::JointDataDerived>(jdata1)),
188 ✗ boost::ref(boost::get<typename JointModelBase<JointModelDerived2>::JointDataDerived>(
189 ✗ jdata2))));
190 }
191
192 JointData1 & jdata1;
193 JointData2 & jdata2;
194 };
195
196 template<typename ArgType, typename Dummy = void>
197 struct InternalVisitorModel : public boost::static_visitor<ReturnType>
198 {
199 ✗ InternalVisitorModel(ArgType args)
200 ✗ : args(args)
201 {
202 }
203
204 template<typename JointModel1, typename JointModel2>
205 ✗ ReturnType operator()(
206 const JointModelBase<JointModel1> & jmodel1,
207 const JointModelBase<JointModel2> & jmodel2) const
208 {
209 ✗ return bf::invoke(
210 &JointVisitorDerived::template algo<JointModel1, JointModel2>,
211 ✗ bf::append(boost::ref(jmodel1.derived()), boost::ref(jmodel2.derived()), args));
212 }
213
214 ArgType args;
215 };
216
217 template<typename Dummy>
218 struct InternalVisitorModel<NoArg, Dummy> : public boost::static_visitor<ReturnType>
219 {
220 ✗ InternalVisitorModel()
221 {
222 }
223
224 template<typename JointModel1, typename JointModel2>
225 ✗ ReturnType operator()(
226 const JointModelBase<JointModel1> & jmodel1,
227 const JointModelBase<JointModel2> & jmodel2) const
228 {
229 ✗ return JointVisitorDerived::template algo<JointModel1, JointModel2>(
230 ✗ jmodel1.derived(), jmodel2.derived());
231 }
232 };
233
234 }; // struct JointBinaryVisitorBase
235
236 } // namespace fusion
237 } // namespace pinocchio
238
239 #endif // ifndef __pinocchio_multibody_visitor_joint_binary_visitor_hpp__
240