GCC Code Coverage Report

Directory: ./
File: src/parsers/urdf/model.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 115 157 73.2%
Branches: 183 471 38.9%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #include "pinocchio/parsers/urdf.hpp"
7 #include "pinocchio/parsers/urdf/utils.hpp"
8 #include "pinocchio/parsers/urdf/model.hxx"
9
10 #include <urdf_model/model.h>
11 #include <urdf_parser/urdf_parser.h>
12
13 #include <sstream>
14 #include <boost/foreach.hpp>
15 #include <limits>
16
17 namespace pinocchio
18 {
19 namespace urdf
20 {
21 namespace details
22 {
23 ///
24 /// \brief Convert URDF Inertial quantity to Spatial Inertia.
25 ///
26 /// \param[in] Y The input URDF Inertia.
27 ///
28 /// \return The converted Spatial Inertia pinocchio::Inertia.
29 ///
30 1512 static Inertia convertFromUrdf(const ::urdf::Inertial & Y)
31 {
32 1512 const ::urdf::Vector3 & p = Y.origin.position;
33 1512 const ::urdf::Rotation & q = Y.origin.rotation;
34
35
1/2
✓ Branch 1 taken 1512 times.
✗ Branch 2 not taken.
 1512 const Inertia::Vector3 com(p.x, p.y, p.z);
36 const Inertia::Matrix3 & R =
37
3/6
✓ Branch 1 taken 1512 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1512 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1512 times.
✗ Branch 8 not taken.
 1512 Eigen::Quaterniond(q.w, q.x, q.y, q.z).cast<Inertia::Scalar>().matrix();
38
39
1/2
✓ Branch 1 taken 1512 times.
✗ Branch 2 not taken.
 1512 Inertia::Matrix3 I;
40
9/18
✓ Branch 1 taken 1512 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1512 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1512 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1512 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 1512 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1512 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 1512 times.
✗ Branch 20 not taken.
✓ Branch 22 taken 1512 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 1512 times.
✗ Branch 26 not taken.
 1512 I << Y.ixx, Y.ixy, Y.ixz, Y.ixy, Y.iyy, Y.iyz, Y.ixz, Y.iyz, Y.izz;
41
5/10
✓ Branch 1 taken 1512 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1512 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1512 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1512 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 1512 times.
✗ Branch 14 not taken.
 1512 return Inertia(Y.mass, com, R * I * R.transpose());
42 }
43
44 2055 static Inertia convertFromUrdf(const ::urdf::InertialSharedPtr & Y)
45 {
46
2/2
✓ Branch 1 taken 1512 times.
✓ Branch 2 taken 543 times.
 2055 if (Y)
47 1512 return convertFromUrdf(*Y);
48 543 return Inertia::Zero();
49 }
50
51 static FrameIndex
52 1995 getParentLinkFrame(const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase & model)
53 {
54
4/10
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✗ Branch 6 not taken.
✓ Branch 7 taken 1995 times.
✓ Branch 8 taken 1995 times.
✗ Branch 9 not taken.
✗ Branch 11 not taken.
✓ Branch 12 taken 1995 times.
✗ Branch 15 not taken.
✗ Branch 16 not taken.
 1995 PINOCCHIO_CHECK_INPUT_ARGUMENT(link && link->getParent());
55
1/2
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
 1995 FrameIndex id = model.getBodyId(link->getParent()->name);
56 1995 return id;
57 }
58
59 ///
60 /// \brief Recursive procedure for reading the URDF tree.
61 /// The function returns an exception as soon as a necessary Inertia or Joint
62 /// information are missing.
63 ///
64 /// \param[in] link The current URDF link.
65 /// \param[in] model The model where the link must be added.
66 ///
67 1995 void parseTree(::urdf::LinkConstSharedPtr link, UrdfVisitorBase & model)
68 {
69 typedef UrdfVisitorBase::Scalar Scalar;
70 typedef UrdfVisitorBase::SE3 SE3;
71 typedef UrdfVisitorBase::Vector Vector;
72 typedef UrdfVisitorBase::Vector3 Vector3;
73 typedef Model::FrameIndex FrameIndex;
74
75 // Parent joint of the current body
76 const ::urdf::JointConstSharedPtr joint =
77 1995 ::urdf::const_pointer_cast<::urdf::Joint>(link->parent_joint);
78
79
1/2
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
 1995 if (joint) // if the link is not the root of the tree
80 {
81
1/4
✗ Branch 4 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
 1995 PINOCCHIO_CHECK_INPUT_ARGUMENT(link->getParent());
82
83 1995 const std::string & joint_name = joint->name;
84 1995 const std::string & link_name = link->name;
85 1995 const std::string & parent_link_name = link->getParent()->name;
86
1/2
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
 1995 std::ostringstream joint_info;
87
88
1/2
✓ Branch 2 taken 1995 times.
✗ Branch 3 not taken.
 1995 FrameIndex parentFrameId = getParentLinkFrame(link, model);
89
90 // Transformation from the parent link to the joint origin
91 const SE3 jointPlacement =
92
2/4
✓ Branch 2 taken 1995 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 6 not taken.
 1995 convertFromUrdf(joint->parent_to_joint_origin_transform).cast<Scalar>();
93
94
2/4
✓ Branch 2 taken 1995 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 6 not taken.
 1995 const Inertia Y = convertFromUrdf(link->inertial).cast<Scalar>();
95
96
4/8
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1995 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1995 times.
✗ Branch 11 not taken.
 1995 Vector max_effort(1), max_velocity(1), min_config(1), max_config(1);
97
4/8
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1995 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1995 times.
✗ Branch 11 not taken.
 1995 Vector friction(Vector::Constant(1, 0.)), damping(Vector::Constant(1, 0.));
98
1/2
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
 1995 Vector3 axis(joint->axis.x, joint->axis.y, joint->axis.z);
99
100 1995 const Scalar infty = std::numeric_limits<Scalar>::infinity();
101
102
4/7
✗ Branch 1 not taken.
✓ Branch 2 taken 1264 times.
✓ Branch 3 taken 1 times.
✓ Branch 4 taken 7 times.
✗ Branch 5 not taken.
✓ Branch 6 taken 723 times.
✗ Branch 7 not taken.
 1995 switch (joint->type)
103 {
104 ✗ case ::urdf::Joint::FLOATING:
105 ✗ joint_info << "joint FreeFlyer";
106
107 ✗ max_effort = Vector::Constant(6, infty);
108 ✗ max_velocity = Vector::Constant(6, infty);
109 ✗ min_config = Vector::Constant(7, -infty);
110 ✗ max_config = Vector::Constant(7, infty);
111 ✗ min_config.tail<4>().setConstant(-1.01);
112 ✗ max_config.tail<4>().setConstant(1.01);
113
114 ✗ friction = Vector::Constant(6, 0.);
115 ✗ damping = Vector::Constant(6, 0.);
116
117 ✗ model.addJointAndBody(
118 ✗ UrdfVisitorBase::FLOATING, axis, parentFrameId, jointPlacement, joint->name, Y,
119 ✗ link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
120 ✗ break;
121
122 1264 case ::urdf::Joint::REVOLUTE:
123
1/2
✓ Branch 1 taken 1264 times.
✗ Branch 2 not taken.
 1264 joint_info << "joint REVOLUTE with axis";
124
125 // TODO I think the URDF standard forbids REVOLUTE with no limits.
126
1/2
✗ Branch 2 not taken.
✓ Branch 3 taken 1264 times.
 1264 assert(joint->limits);
127
1/2
✓ Branch 2 taken 1264 times.
✗ Branch 3 not taken.
 1264 if (joint->limits)
128 {
129
1/2
✓ Branch 3 taken 1264 times.
✗ Branch 4 not taken.
 1264 max_effort << joint->limits->effort;
130
1/2
✓ Branch 3 taken 1264 times.
✗ Branch 4 not taken.
 1264 max_velocity << joint->limits->velocity;
131
1/2
✓ Branch 3 taken 1264 times.
✗ Branch 4 not taken.
 1264 min_config << joint->limits->lower;
132
1/2
✓ Branch 3 taken 1264 times.
✗ Branch 4 not taken.
 1264 max_config << joint->limits->upper;
133 }
134
135
2/2
✓ Branch 2 taken 236 times.
✓ Branch 3 taken 1028 times.
 1264 if (joint->dynamics)
136 {
137
1/2
✓ Branch 3 taken 236 times.
✗ Branch 4 not taken.
 236 friction << joint->dynamics->friction;
138
1/2
✓ Branch 3 taken 236 times.
✗ Branch 4 not taken.
 236 damping << joint->dynamics->damping;
139 }
140
141
6/12
✓ Branch 1 taken 1264 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1264 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1264 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1264 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 1264 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1264 times.
✗ Branch 17 not taken.
 2528 model.addJointAndBody(
142
1/2
✓ Branch 1 taken 1264 times.
✗ Branch 2 not taken.
 1264 UrdfVisitorBase::REVOLUTE, axis, parentFrameId, jointPlacement, joint->name, Y,
143 1264 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
144 1264 break;
145
146 1 case ::urdf::Joint::CONTINUOUS: // Revolute joint with no joint limits
147
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 1 joint_info << "joint CONTINUOUS with axis";
148
149
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 1 min_config.resize(2);
150
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 1 max_config.resize(2);
151
2/4
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
 1 min_config << -1.01, -1.01;
152
2/4
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
 1 max_config << 1.01, 1.01;
153
154
1/2
✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
 1 if (joint->limits)
155 {
156
1/2
✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
 1 max_effort << joint->limits->effort;
157
1/2
✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
 1 max_velocity << joint->limits->velocity;
158 }
159 else
160 {
161 ✗ max_effort << infty;
162 ✗ max_velocity << infty;
163 }
164
165
1/2
✗ Branch 2 not taken.
✓ Branch 3 taken 1 times.
 1 if (joint->dynamics)
166 {
167 ✗ friction << joint->dynamics->friction;
168 ✗ damping << joint->dynamics->damping;
169 }
170
171
6/12
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
 2 model.addJointAndBody(
172
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 1 UrdfVisitorBase::CONTINUOUS, axis, parentFrameId, jointPlacement, joint->name, Y,
173 1 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
174 1 break;
175
176 7 case ::urdf::Joint::PRISMATIC:
177
1/2
✓ Branch 1 taken 7 times.
✗ Branch 2 not taken.
 7 joint_info << "joint PRISMATIC with axis";
178
179 // TODO I think the URDF standard forbids REVOLUTE with no limits.
180
1/2
✗ Branch 2 not taken.
✓ Branch 3 taken 7 times.
 7 assert(joint->limits);
181
1/2
✓ Branch 2 taken 7 times.
✗ Branch 3 not taken.
 7 if (joint->limits)
182 {
183
1/2
✓ Branch 3 taken 7 times.
✗ Branch 4 not taken.
 7 max_effort << joint->limits->effort;
184
1/2
✓ Branch 3 taken 7 times.
✗ Branch 4 not taken.
 7 max_velocity << joint->limits->velocity;
185
1/2
✓ Branch 3 taken 7 times.
✗ Branch 4 not taken.
 7 min_config << joint->limits->lower;
186
1/2
✓ Branch 3 taken 7 times.
✗ Branch 4 not taken.
 7 max_config << joint->limits->upper;
187 }
188
189
2/2
✓ Branch 2 taken 6 times.
✓ Branch 3 taken 1 times.
 7 if (joint->dynamics)
190 {
191
1/2
✓ Branch 3 taken 6 times.
✗ Branch 4 not taken.
 6 friction << joint->dynamics->friction;
192
1/2
✓ Branch 3 taken 6 times.
✗ Branch 4 not taken.
 6 damping << joint->dynamics->damping;
193 }
194
195
6/12
✓ Branch 1 taken 7 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 7 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 7 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 7 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 7 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 7 times.
✗ Branch 17 not taken.
 14 model.addJointAndBody(
196
1/2
✓ Branch 1 taken 7 times.
✗ Branch 2 not taken.
 7 UrdfVisitorBase::PRISMATIC, axis, parentFrameId, jointPlacement, joint->name, Y,
197 7 link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
198 7 break;
199
200 ✗ case ::urdf::Joint::PLANAR:
201 ✗ joint_info << "joint PLANAR with normal axis along Z";
202
203 ✗ max_effort = Vector::Constant(3, infty);
204 ✗ max_velocity = Vector::Constant(3, infty);
205 ✗ min_config = Vector::Constant(4, -infty);
206 ✗ max_config = Vector::Constant(4, infty);
207 ✗ min_config.tail<2>().setConstant(-1.01);
208 ✗ max_config.tail<2>().setConstant(1.01);
209
210 ✗ friction = Vector::Constant(3, 0.);
211 ✗ damping = Vector::Constant(3, 0.);
212
213 ✗ model.addJointAndBody(
214 ✗ UrdfVisitorBase::PLANAR, axis, parentFrameId, jointPlacement, joint->name, Y,
215 ✗ link->name, max_effort, max_velocity, min_config, max_config, friction, damping);
216 ✗ break;
217
218 723 case ::urdf::Joint::FIXED:
219 // In case of fixed joint, if link has inertial tag:
220 // -add the inertia of the link to his parent in the model
221 // Otherwise do nothing.
222 // In all cases:
223 // -let all the children become children of parent
224 // -inform the parser of the offset to apply
225 // -add fixed body in model to display it in gepetto-viewer
226
227
1/2
✓ Branch 1 taken 723 times.
✗ Branch 2 not taken.
 723 joint_info << "fixed joint";
228
1/2
✓ Branch 1 taken 723 times.
✗ Branch 2 not taken.
 723 model.addFixedJointAndBody(parentFrameId, jointPlacement, joint_name, Y, link_name);
229 723 break;
230
231 ✗ default:
232 ✗ throw std::invalid_argument("The type of joint " + joint_name + " is not supported.");
233 break;
234 }
235
236
2/4
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
 1995 model << "Adding Body" << '\n'
237
4/8
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1995 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1995 times.
✗ Branch 11 not taken.
 1995 << '\"' << link_name << "\" connected to \"" << parent_link_name
238
3/6
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1995 times.
✗ Branch 8 not taken.
 1995 << "\" through joint \"" << joint_name << "\"\n"
239
4/8
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 1995 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 1995 times.
✗ Branch 11 not taken.
 1995 << "joint type: " << joint_info.str() << '\n'
240
1/2
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
 1995 << "joint placement:\n"
241
2/4
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
 1995 << jointPlacement << '\n'
242
2/4
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1995 times.
✗ Branch 5 not taken.
 1995 << "body info: " << '\n'
243
3/6
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1995 times.
✗ Branch 9 not taken.
 1995 << " mass: " << Y.mass() << '\n'
244
4/8
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1995 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1995 times.
✗ Branch 12 not taken.
 1995 << " lever: " << Y.lever().transpose() << '\n'
245
1/2
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
 1995 << " inertia elements (Ixx,Iyx,Iyy,Izx,Izy,Izz): "
246
3/6
✓ Branch 3 taken 1995 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 1995 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 1995 times.
✗ Branch 10 not taken.
 1995 << Y.inertia().data().transpose() << '\n'
247
1/2
✓ Branch 1 taken 1995 times.
✗ Branch 2 not taken.
 1995 << '\n';
248 1995 }
249 ✗ else if (link->getParent())
250 ✗ throw std::invalid_argument(link->name + " - joint information missing.");
251
252
18/30
✓ Branch 2 taken 1995 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1995 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1995 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1995 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1995 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 1995 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1893 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 1893 times.
✗ Branch 24 not taken.
✓ Branch 26 taken 1893 times.
✓ Branch 27 taken 1893 times.
✓ Branch 28 taken 1893 times.
✗ Branch 29 not taken.
✓ Branch 31 taken 1893 times.
✗ Branch 32 not taken.
✓ Branch 33 taken 3888 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 3888 times.
✗ Branch 37 not taken.
✓ Branch 38 taken 1893 times.
✓ Branch 39 taken 1995 times.
✓ Branch 40 taken 1893 times.
✓ Branch 41 taken 1995 times.
 5781 BOOST_FOREACH (::urdf::LinkConstSharedPtr child, link->child_links)
253 {
254
1/2
✓ Branch 2 taken 1893 times.
✗ Branch 3 not taken.
 1893 parseTree(child, model);
255 1893 }
256 1995 }
257
258 ///
259 /// \brief Parse a tree with a specific root joint linking the model to the environment.
260 /// The function returns an exception as soon as a necessary Inertia or Joint
261 /// information are missing.
262 ///
263 /// \param[in] link The current URDF link.
264 /// \param[in] model The model where the link must be added.
265 ///
266 60 void parseRootTree(const ::urdf::ModelInterface * urdfTree, UrdfVisitorBase & model)
267 {
268
1/2
✓ Branch 2 taken 60 times.
✗ Branch 3 not taken.
 60 model.setName(urdfTree->getName());
269
270 60 ::urdf::LinkConstSharedPtr root_link = urdfTree->getRoot();
271
4/6
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 60 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 59 times.
✓ Branch 10 taken 1 times.
 60 model.addRootJoint(convertFromUrdf(root_link->inertial).cast<double>(), root_link->name);
272
273
18/30
✓ Branch 2 taken 59 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 59 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 59 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 59 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 59 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 59 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 102 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 102 times.
✗ Branch 24 not taken.
✓ Branch 26 taken 102 times.
✓ Branch 27 taken 102 times.
✓ Branch 28 taken 102 times.
✗ Branch 29 not taken.
✓ Branch 31 taken 102 times.
✗ Branch 32 not taken.
✓ Branch 33 taken 161 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 161 times.
✗ Branch 37 not taken.
✓ Branch 38 taken 102 times.
✓ Branch 39 taken 59 times.
✓ Branch 40 taken 102 times.
✓ Branch 41 taken 59 times.
 263 BOOST_FOREACH (::urdf::LinkConstSharedPtr child, root_link->child_links)
274 {
275
1/2
✓ Branch 2 taken 102 times.
✗ Branch 3 not taken.
 102 parseTree(child, model);
276 102 }
277 60 }
278
279 51 void parseRootTree(const std::string & filename, UrdfVisitorBase & model)
280 {
281
1/2
✓ Branch 1 taken 51 times.
✗ Branch 2 not taken.
 51 ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
282
1/2
✓ Branch 1 taken 51 times.
✗ Branch 2 not taken.
 51 if (urdfTree)
283
1/2
✓ Branch 2 taken 51 times.
✗ Branch 3 not taken.
 102 return parseRootTree(urdfTree.get(), model);
284 else
285 ✗ throw std::invalid_argument(
286 ✗ "The file " + filename
287 ✗ + " does not "
288 ✗ "contain a valid URDF model.");
289 51 }
290
291 7 void parseRootTreeFromXML(const std::string & xmlString, UrdfVisitorBase & model)
292 {
293
1/2
✓ Branch 1 taken 7 times.
✗ Branch 2 not taken.
 7 ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDF(xmlString);
294
1/2
✓ Branch 1 taken 7 times.
✗ Branch 2 not taken.
 7 if (urdfTree)
295
2/2
✓ Branch 2 taken 6 times.
✓ Branch 3 taken 1 times.
 13 return parseRootTree(urdfTree.get(), model);
296 else
297 ✗ throw std::invalid_argument("The XML stream does not contain a valid "
298 ✗ "URDF model.");
299 7 }
300 } // namespace details
301 } // namespace urdf
302 } // namespace pinocchio
303