GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 22 45 48.9%
Branches: 8 38 21.1%
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>
32 class JointCollectionTpl,
33 typename ArgsTmp>
34 1327228 static ReturnType run(
35 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
36 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
37 ArgsTmp args)
38 {
39 InternalVisitorModelAndData<JointModelTpl<Scalar, Options, JointCollectionTpl>, ArgsTmp>
40
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 1327228 visitor(jdata, args);
41
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 2654456 return boost::apply_visitor(visitor, jmodel);
42 }
43
44 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
45 ✗ static ReturnType run(
46 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
47 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata)
48 {
49 InternalVisitorModelAndData<JointModelTpl<Scalar, Options, JointCollectionTpl>, NoArg>
50 ✗ visitor(jdata);
51 ✗ return boost::apply_visitor(visitor, jmodel);
52 }
53
54 template<typename JointModelDerived, typename ArgsTmp>
55 static ReturnType run(
56 const JointModelBase<JointModelDerived> & jmodel,
57 typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
58 ArgsTmp args)
59 {
60 InternalVisitorModelAndData<JointModelDerived, ArgsTmp> visitor(jdata, args);
61 return visitor(jmodel.derived());
62 }
63
64 template<typename JointModelDerived>
65 static ReturnType run(
66 const JointModelBase<JointModelDerived> & jmodel,
67 typename JointModelBase<JointModelDerived>::JointDataDerived & jdata)
68 {
69 InternalVisitorModelAndData<JointModelDerived, NoArg> visitor(jdata);
70 return visitor(jmodel.derived());
71 }
72
73 template<
74 typename Scalar,
75 int Options,
76 template<typename, int>
77 class JointCollectionTpl,
78 typename ArgsTmp>
79 static ReturnType
80 339730 run(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel, ArgsTmp args)
81 {
82
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 339730 InternalVisitorModel<ArgsTmp> visitor(args);
83
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 679460 return boost::apply_visitor(visitor, jmodel);
84 }
85
86 template<
87 typename Scalar,
88 int Options,
89 template<typename, int>
90 class JointCollectionTpl,
91 typename ArgsTmp>
92 static ReturnType
93 ✗ run(const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata, ArgsTmp args)
94 {
95 ✗ InternalVisitorModel<ArgsTmp> visitor(args);
96 ✗ return boost::apply_visitor(visitor, jdata);
97 }
98
99 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
100 ✗ static ReturnType run(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel)
101 {
102 ✗ InternalVisitorModel<NoArg> visitor;
103 ✗ return boost::apply_visitor(visitor, jmodel);
104 }
105
106 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
107 static ReturnType run(const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata)
108 {
109 InternalVisitorModel<NoArg> visitor;
110 return boost::apply_visitor(visitor, jdata);
111 }
112
113 template<typename JointModelDerived, typename ArgsTmp>
114 static ReturnType run(const JointModelBase<JointModelDerived> & jmodel, ArgsTmp args)
115 {
116 InternalVisitorModel<ArgsTmp> visitor(args);
117 return visitor(jmodel.derived());
118 }
119
120 template<typename JointDataDerived, typename ArgsTmp>
121 static ReturnType run(const JointDataBase<JointDataDerived> & jdata, ArgsTmp args)
122 {
123 InternalVisitorModel<ArgsTmp> visitor(args);
124 return visitor(jdata.derived());
125 }
126
127 template<typename JointModelDerived>
128 static ReturnType run(const JointModelBase<JointModelDerived> & jmodel)
129 {
130 InternalVisitorModel<NoArg> visitor;
131 return visitor(jmodel.derived());
132 }
133
134 template<typename JointDataDerived>
135 static ReturnType run(const JointDataBase<JointDataDerived> & jdata)
136 {
137 InternalVisitorModel<NoArg> visitor;
138 return visitor(jdata.derived());
139 }
140
141 private:
142 template<typename JointModel, typename ArgType>
143 struct InternalVisitorModelAndData : public boost::static_visitor<ReturnType>
144 {
145 typedef typename JointModel::JointDataDerived JointData;
146
147 1327228 InternalVisitorModelAndData(JointData & jdata, ArgType args)
148 1327228 : jdata(jdata)
149 1327228 , args(args)
150 {
151 1327228 }
152
153 template<typename JointModelDerived>
154 747133 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
155 {
156
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 747133 return bf::invoke(
157 &JointVisitorDerived::template algo<JointModelDerived>,
158 ✗ bf::append(
159
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 747133 boost::ref(jmodel.derived()),
160 747133 boost::ref(
161 747133 boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived>(jdata)),
162 1494266 args));
163 }
164
165 ReturnType operator()(const JointModelVoid)
166 {
167 return;
168 }
169
170 JointData & jdata;
171 ArgType args;
172 };
173
174 template<typename JointModel>
175 struct InternalVisitorModelAndData<JointModel, NoArg>
176 : public boost::static_visitor<ReturnType>
177 {
178 typedef typename JointModel::JointDataDerived JointData;
179
180 ✗ InternalVisitorModelAndData(JointData & jdata)
181 ✗ : jdata(jdata)
182 {
183 }
184
185 template<typename JointModelDerived>
186 ✗ ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
187 {
188 ✗ return bf::invoke(
189 &JointVisitorDerived::template algo<JointModelDerived>,
190 bf::make_vector(
191 ✗ boost::ref(jmodel.derived()),
192 ✗ boost::ref(
193 ✗ boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived>(jdata))));
194 }
195
196 JointData & jdata;
197 };
198
199 template<typename ArgType, typename Dummy = void>
200 struct InternalVisitorModel : public boost::static_visitor<ReturnType>
201 {
202 339730 InternalVisitorModel(ArgType args)
203 339730 : args(args)
204 {
205 339730 }
206
207 template<typename JointModelDerived>
208 192902 ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
209 {
210
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 192902 return bf::invoke(
211 &JointVisitorDerived::template algo<JointModelDerived>,
212
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 578706 bf::append(boost::ref(jmodel.derived()), args));
213 }
214
215 template<typename JointDataDerived>
216 ✗ ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
217 {
218 ✗ return bf::invoke(
219 &JointVisitorDerived::template algo<JointDataDerived>,
220 ✗ bf::append(boost::ref(jdata.derived()), args));
221 }
222
223 ReturnType operator()(const JointModelVoid)
224 {
225 return;
226 }
227
228 ArgType args;
229 };
230
231 template<typename Dummy>
232 struct InternalVisitorModel<NoArg, Dummy> : public boost::static_visitor<ReturnType>
233 {
234 ✗ InternalVisitorModel()
235 {
236 }
237
238 template<typename JointModelDerived>
239 ✗ ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
240 {
241 ✗ return JointVisitorDerived::template algo<JointModelDerived>(jmodel.derived());
242 }
243
244 template<typename JointDataDerived>
245 ReturnType operator()(const JointDataBase<JointDataDerived> & jdata) const
246 {
247 return JointVisitorDerived::template algo<JointDataDerived>(jdata.derived());
248 }
249 };
250 }; // struct JointUnaryVisitorBase
251
252 } // namespace fusion
253 } // namespace pinocchio
254
255 #endif // ifndef __pinocchio_multibody_visitor_joint_unary_visitor_hpp__
256