GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 49 50 98.0%
Branches: 22 44 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2023 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_multibody_visitor_joint_unary_visitor_hpp__
6 #define __pinocchio_multibody_visitor_joint_unary_visitor_hpp__
7
8 #include <boost/variant/apply_visitor.hpp>
9 #include <boost/variant/get.hpp>
10
11 #include "pinocchio/multibody/visitor/fusion.hpp"
12 #include "pinocchio/multibody/joint/joint-base.hpp"
13
14 namespace pinocchio
15 {
16 namespace fusion
17 {
18
19 ///
20 /// \brief Base structure for \b Unary visitation of a JointModel.
21 /// This structure provides runners to call the right visitor according to the number of
22 /// arguments. This should be used when deriving new rigid body algorithms.
23 ///
24 template<typename JointVisitorDerived, typename ReturnType = void>
25 struct JointUnaryVisitorBase
26 {
27
28 template<
29 typename Scalar,
30 int Options,
31 template<typename, int> class JointCollectionTpl,
32 typename ArgsTmp>
33 1392913 static ReturnType run(
34 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
35 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
36 ArgsTmp args)
37 {
38 InternalVisitorModelAndData<JointModelTpl<Scalar, Options, JointCollectionTpl>, ArgsTmp>
39
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 1392913 visitor(jdata, args);
40
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 2785826 return boost::apply_visitor(visitor, jmodel);
41 }
42
43 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
44 26 static ReturnType run(
45 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
46 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata)
47 {
48 InternalVisitorModelAndData<JointModelTpl<Scalar, Options, JointCollectionTpl>, NoArg>
49 26 visitor(jdata);
50
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 52 return boost::apply_visitor(visitor, jmodel);
51 }
52
53 template<typename JointModelDerived, typename ArgsTmp>
54 static ReturnType run(
55 const JointModelBase<JointModelDerived> & jmodel,
56 typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
57 ArgsTmp args)
58 {
59 InternalVisitorModelAndData<JointModelDerived, ArgsTmp> visitor(jdata, args);
60 return visitor(jmodel.derived());
61 }
62
63 template<typename JointModelDerived>
64 static ReturnType run(
65 const JointModelBase<JointModelDerived> & jmodel,
66 typename JointModelBase<JointModelDerived>::JointDataDerived & jdata)
67 {
68 InternalVisitorModelAndData<JointModelDerived, NoArg> visitor(jdata);
69 return visitor(jmodel.derived());
70 }
71
72 template<
73 typename Scalar,
74 int Options,
75 template<typename, int> class JointCollectionTpl,
76 typename ArgsTmp>
77 static ReturnType
78 373719 run(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel, ArgsTmp args)
79 {
80
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 373719 InternalVisitorModel<ArgsTmp> visitor(args);
81
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 747438 return boost::apply_visitor(visitor, jmodel);
82 }
83
84 template<
85 typename Scalar,
86 int Options,
87 template<typename, int> class JointCollectionTpl,
88 typename ArgsTmp>
89 static ReturnType
90 100 run(const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata, ArgsTmp args)
91 {
92
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 100 InternalVisitorModel<ArgsTmp> visitor(args);
93
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 200 return boost::apply_visitor(visitor, jdata);
94 }
95
96 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
97 998 static ReturnType run(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel)
98 {
99 998 InternalVisitorModel<NoArg> visitor;
100
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 1996 return boost::apply_visitor(visitor, jmodel);
101 }
102
103 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
104 static ReturnType run(const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata)
105 {
106 InternalVisitorModel<NoArg> visitor;
107 return boost::apply_visitor(visitor, jdata);
108 }
109
110 template<typename JointModelDerived, typename ArgsTmp>
111 46 static ReturnType run(const JointModelBase<JointModelDerived> & jmodel, ArgsTmp args)
112 {
113
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 46 InternalVisitorModel<ArgsTmp> visitor(args);
114
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 92 return visitor(jmodel.derived());
115 }
116
117 template<typename JointDataDerived, typename ArgsTmp>
118 static ReturnType run(const JointDataBase<JointDataDerived> & jdata, ArgsTmp args)
119 {
120 InternalVisitorModel<ArgsTmp> visitor(args);
121 return visitor(jdata.derived());
122 }
123
124 template<typename JointModelDerived>
125 static ReturnType run(const JointModelBase<JointModelDerived> & jmodel)
126 {
127 InternalVisitorModel<NoArg> visitor;
128 return visitor(jmodel.derived());
129 }
130
131 template<typename JointDataDerived>
132 static ReturnType run(const JointDataBase<JointDataDerived> & jdata)
133 {
134 InternalVisitorModel<NoArg> visitor;
135 return visitor(jdata.derived());
136 }
137
138 private:
139 template<typename JointModel, typename ArgType>
140 struct InternalVisitorModelAndData : public boost::static_visitor<ReturnType>
141 {
142 typedef typename JointModel::JointDataDerived JointData;
143
144 1392913 InternalVisitorModelAndData(JointData & jdata, ArgType args)
145 1392913 : jdata(jdata)
146 1392913 , args(args)
147 {
148 1392913 }
149
150 template<typename JointModelDerived>
151 789269 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
152 {
153
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 789269 return bf::invoke(
154 &JointVisitorDerived::template algo<JointModelDerived>,
155 ✗ bf::append(
156
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 789269 boost::ref(jmodel.derived()),
157 789269 boost::ref(
158 789269 boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived>(jdata)),
159 1578538 args));
160 }
161
162 ReturnType operator()(const JointModelVoid)
163 {
164 return;
165 }
166
167 JointData & jdata;
168 ArgType args;
169 };
170
171 template<typename JointModel>
172 struct InternalVisitorModelAndData<JointModel, NoArg>
173 : public boost::static_visitor<ReturnType>
174 {
175 typedef typename JointModel::JointDataDerived JointData;
176
177 26 InternalVisitorModelAndData(JointData & jdata)
178 26 : jdata(jdata)
179 {
180 26 }
181
182 template<typename JointModelDerived>
183 52 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
184 {
185
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 52 return bf::invoke(
186 &JointVisitorDerived::template algo<JointModelDerived>,
187 bf::make_vector(
188
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 52 boost::ref(jmodel.derived()),
189 52 boost::ref(
190 104 boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived>(jdata))));
191 }
192
193 JointData & jdata;
194 };
195
196 template<typename ArgType, typename Dummy = void>
197 struct InternalVisitorModel : public boost::static_visitor<ReturnType>
198 {
199 373868 InternalVisitorModel(ArgType args)
200 373868 : args(args)
201 {
202 373868 }
203
204 template<typename JointModelDerived>
205 213795 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
206 {
207
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 213795 return bf::invoke(
208 &JointVisitorDerived::template algo<JointModelDerived>,
209
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 641385 bf::append(boost::ref(jmodel.derived()), args));
210 }
211
212 template<typename JointDataDerived>
213 100 ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
214 {
215
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 100 return bf::invoke(
216 &JointVisitorDerived::template algo<JointDataDerived>,
217
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 300 bf::append(boost::ref(jdata.derived()), args));
218 }
219
220 ReturnType operator()(const JointModelVoid)
221 {
222 return;
223 }
224
225 ArgType args;
226 };
227
228 template<typename Dummy>
229 struct InternalVisitorModel<NoArg, Dummy> : public boost::static_visitor<ReturnType>
230 {
231 998 InternalVisitorModel()
232 {
233 998 }
234
235 template<typename JointModelDerived>
236 670 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
237 {
238 670 return JointVisitorDerived::template algo<JointModelDerived>(jmodel.derived());
239 }
240
241 template<typename JointDataDerived>
242 ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
243 {
244 return JointVisitorDerived::template algo<JointDataDerived>(jdata.derived());
245 }
246 };
247 }; // struct JointUnaryVisitorBase
248
249 } // namespace fusion
250 } // namespace pinocchio
251
252 #endif // ifndef __pinocchio_multibody_visitor_joint_unary_visitor_hpp__
253