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// |
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// Copyright (c) 2015-2019 CNRS INRIA |
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// |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/visitor.hpp" |
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#include <iostream> |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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namespace bf = boost::fusion; |
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struct SimpleUnaryVisitor1 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor1> |
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{ |
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typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType; |
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template<typename JointModel> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel> & jmodel, |
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pinocchio::JointDataBase<typename JointModel::JointDataDerived> & jdata, |
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const pinocchio::Model & model, |
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pinocchio::Data & data, |
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pinocchio::JointIndex jindex) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(jdata); |
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PINOCCHIO_UNUSED_VARIABLE(model); |
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PINOCCHIO_UNUSED_VARIABLE(data); |
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BOOST_CHECK(jindex == jmodel.id()); |
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std::cout << "joint name: " << jmodel.shortname() << std::endl; |
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} |
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}; |
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struct SimpleUnaryVisitor2 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor2> |
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{ |
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typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType; |
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template<typename JointModel> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel> & jmodel, |
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const pinocchio::Model & model, |
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pinocchio::Data & data, |
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pinocchio::JointIndex jindex) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(model); |
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PINOCCHIO_UNUSED_VARIABLE(data); |
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PINOCCHIO_UNUSED_VARIABLE(jindex); |
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BOOST_CHECK(jindex == jmodel.id()); |
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std::cout << "joint name: " << jmodel.shortname() << std::endl; |
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} |
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}; |
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struct SimpleUnaryVisitor3 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor3> |
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{ |
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template<typename JointModel> |
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static void algo(const pinocchio::JointModelBase<JointModel> & jmodel) |
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{ |
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BOOST_CHECK(!jmodel.shortname().empty()); |
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std::cout << "joint name: " << jmodel.shortname() << std::endl; |
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} |
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}; |
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struct SimpleUnaryVisitor4 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor4> |
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{ |
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template<typename JointModel> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel> & jmodel, |
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pinocchio::JointDataBase<typename JointModel::JointDataDerived> & jdata) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(jdata); |
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BOOST_CHECK(!jmodel.shortname().empty()); |
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std::cout << "joint name: " << jmodel.shortname() << std::endl; |
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} |
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}; |
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struct SimpleBinaryVisitor1 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor1> |
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{ |
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typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType; |
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template<typename JointModel1, typename JointModel2> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel1> & jmodel1, |
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const pinocchio::JointModelBase<JointModel2> & jmodel2, |
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pinocchio::JointDataBase<typename JointModel1::JointDataDerived> & jdata1, |
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pinocchio::JointDataBase<typename JointModel2::JointDataDerived> & jdata2, |
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const pinocchio::Model & model, |
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pinocchio::Data & data, |
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pinocchio::JointIndex jindex) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(jdata1); |
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PINOCCHIO_UNUSED_VARIABLE(jdata2); |
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PINOCCHIO_UNUSED_VARIABLE(model); |
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PINOCCHIO_UNUSED_VARIABLE(data); |
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PINOCCHIO_UNUSED_VARIABLE(jindex); |
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BOOST_CHECK(jindex == jmodel1.id()); |
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BOOST_CHECK(jindex == jmodel2.id()); |
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std::cout << "joint1 name: " << jmodel1.shortname() << std::endl; |
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std::cout << "joint2 name: " << jmodel2.shortname() << std::endl; |
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} |
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}; |
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struct SimpleBinaryVisitor2 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor2> |
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{ |
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typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType; |
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template<typename JointModel1, typename JointModel2> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel1> & jmodel1, |
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const pinocchio::JointModelBase<JointModel2> & jmodel2, |
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const pinocchio::Model & model, |
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pinocchio::Data & data, |
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pinocchio::JointIndex jindex) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(model); |
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PINOCCHIO_UNUSED_VARIABLE(data); |
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PINOCCHIO_UNUSED_VARIABLE(jindex); |
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BOOST_CHECK(jindex == jmodel1.id()); |
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BOOST_CHECK(jindex == jmodel2.id()); |
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std::cout << "joint1 name: " << jmodel1.shortname() << std::endl; |
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std::cout << "joint2 name: " << jmodel2.shortname() << std::endl; |
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} |
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}; |
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struct SimpleBinaryVisitor3 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor3> |
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{ |
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template<typename JointModel1, typename JointModel2> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel1> & jmodel1, |
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const pinocchio::JointModelBase<JointModel2> & jmodel2) |
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{ |
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BOOST_CHECK(!jmodel1.shortname().empty()); |
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BOOST_CHECK(!jmodel2.shortname().empty()); |
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std::cout << "joint1 name: " << jmodel1.shortname() << std::endl; |
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std::cout << "joint2 name: " << jmodel2.shortname() << std::endl; |
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} |
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}; |
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struct SimpleBinaryVisitor4 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor4> |
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{ |
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template<typename JointModel1, typename JointModel2> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel1> & jmodel1, |
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const pinocchio::JointModelBase<JointModel2> & jmodel2, |
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pinocchio::JointDataBase<typename JointModel1::JointDataDerived> & jdata1, |
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pinocchio::JointDataBase<typename JointModel2::JointDataDerived> & jdata2) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(jdata1); |
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PINOCCHIO_UNUSED_VARIABLE(jdata2); |
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BOOST_CHECK(!jmodel1.shortname().empty()); |
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BOOST_CHECK(!jmodel2.shortname().empty()); |
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std::cout << "joint1 name: " << jmodel1.shortname() << std::endl; |
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std::cout << "joint2 name: " << jmodel2.shortname() << std::endl; |
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std::cout << "jdata1 name: " << jdata1.classname() << std::endl; |
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std::cout << "jdata2 name: " << jdata2.classname() << std::endl; |
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} |
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}; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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template<typename JointModel_> |
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struct init; |
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template<typename JointModel_> |
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struct init |
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{ |
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static JointModel_ run(const pinocchio::Model & /* model*/) |
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{ |
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JointModel_ jmodel; |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run(const pinocchio::Model & /* model*/) |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run(const pinocchio::Model & /* model*/) |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run(const pinocchio::Model & /* model*/) |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run(const pinocchio::Model & /* model*/) |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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JointModel jmodel((JointModelRX())); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run(const pinocchio::Model & /* model*/) |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ; |
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JointModel jmodel(JointModelRX(), pinocchio::SE3::Random()); |
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jmodel.addJoint(JointModelRY(), pinocchio::SE3::Random()); |
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jmodel.addJoint(JointModelRZ(), pinocchio::SE3::Random()); |
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return jmodel; |
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} |
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}; |
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template<typename JointModel_> |
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struct init<pinocchio::JointModelMimic<JointModel_>> |
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{ |
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typedef pinocchio::JointModelMimic<JointModel_> JointModel; |
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static JointModel run(const pinocchio::Model & model) |
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{ |
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const pinocchio::JointIndex joint_id = model.getJointId(JointModel_::classname()); |
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JointModel jmodel(boost::get<JointModel_>(model.joints[joint_id]), 1., 0.); |
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return jmodel; |
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} |
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}; |
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struct AppendJointToModel |
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{ |
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AppendJointToModel(pinocchio::Model & model) |
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: model(model) |
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{ |
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} |
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template<typename JointModel> |
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void operator()(const pinocchio::JointModelBase<JointModel> &) const |
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{ |
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JointModel jmodel = init<JointModel>::run(model); |
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model.addJoint(model.joints.size() - 1, jmodel, pinocchio::SE3::Random(), jmodel.classname()); |
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} |
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pinocchio::Model & model; |
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}; |
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BOOST_AUTO_TEST_CASE(test_run_over_all_joints_unary_visitor) |
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{ |
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using namespace pinocchio; |
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typedef JointCollectionDefault::JointModelVariant Variant; |
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Model model; |
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boost::mpl::for_each<Variant::types>(AppendJointToModel(model)); |
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Data data(model); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleUnaryVisitor1::run( |
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model.joints[i], data.joints[i], SimpleUnaryVisitor1::ArgsType(model, data, i)); |
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} |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleUnaryVisitor2::run(model.joints[i], SimpleUnaryVisitor2::ArgsType(model, data, i)); |
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} |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleUnaryVisitor3::run(model.joints[i]); |
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} |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleUnaryVisitor4::run(model.joints[i], data.joints[i]); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_run_over_all_joints_binary_visitor) |
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{ |
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using namespace pinocchio; |
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typedef JointCollectionDefault::JointModelVariant Variant; |
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Model model; |
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boost::mpl::for_each<Variant::types>(AppendJointToModel(model)); |
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Data data(model); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleBinaryVisitor1::run( |
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model.joints[i], model.joints[i], data.joints[i], data.joints[i], |
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SimpleBinaryVisitor1::ArgsType(model, data, i)); |
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} |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SimpleBinaryVisitor2::run( |
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model.joints[i], model.joints[i], SimpleBinaryVisitor2::ArgsType(model, data, i)); |
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} |
| 342 |
|
|
|
| 343 |
|
✗ |
for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
| 344 |
|
|
{ |
| 345 |
|
✗ |
SimpleBinaryVisitor3::run(model.joints[i], model.joints[i]); |
| 346 |
|
|
} |
| 347 |
|
|
|
| 348 |
|
✗ |
for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
| 349 |
|
|
{ |
| 350 |
|
✗ |
SimpleBinaryVisitor4::run(model.joints[i], model.joints[i], data.joints[i], data.joints[i]); |
| 351 |
|
|
} |
| 352 |
|
|
} |
| 353 |
|
|
|
| 354 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 355 |
|
|
|