check.hpp

//
// Copyright (c) 2016-2018 CNRS
//
 
#ifndef __pinocchio_check_hpp__
#define __pinocchio_check_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include <boost/fusion/container/list.hpp>
#include <boost/fusion/container/generation/make_list.hpp>
 
#ifndef PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE
  #define PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE 5
#endif
 
namespace pinocchio
{
 
  template<typename AlgorithmCheckerDerived>
  struct AlgorithmCheckerBase
  {
    inline AlgorithmCheckerDerived & derived()
    {
      return *static_cast<AlgorithmCheckerDerived *>(this);
    }
 
    inline const AlgorithmCheckerDerived & derived() const
    {
      return *static_cast<const AlgorithmCheckerDerived *>(this);
    }
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    inline bool checkModel(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
    {
      return derived().checkModel_impl(model);
    }
  };
 
#define PINOCCHIO_DEFINE_ALGO_CHECKER(NAME)                                                        \
  struct NAME##Checker : public AlgorithmCheckerBase<NAME##Checker>                                \
  {                                                                                                \
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>       \
    inline bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> &) const;      \
  }
 
  PINOCCHIO_DEFINE_ALGO_CHECKER(Parent);
 
#if !defined(BOOST_FUSION_HAS_VARIADIC_LIST)
  template<BOOST_PP_ENUM_PARAMS_WITH_A_DEFAULT(
    PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, class D, boost::fusion::void_)>
  struct AlgorithmCheckerList
  : AlgorithmCheckerBase<
      AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)>>
  {
    typedef typename boost::fusion::list<BOOST_PP_ENUM_PARAMS(
      PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)>
      ArgType;
 
    AlgorithmCheckerList(const ArgType & checkerList)
    : checkerList(checkerList)
    {
    }
 
    // Calls model.check for each checker in the fusion::list.
    // Each list element is supposed to implement the AlgorithmCheckerBase API.
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const;
 
    const ArgType & checkerList;
  };
 
  #define MAKE_ALGO_CHECKER_LIST(z, n, _)                                                          \
                                                                                               \
    template<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), class D)>                                       \
    AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), D)> makeAlgoCheckerList(            \
      BOOST_PP_ENUM_BINARY_PARAMS(BOOST_PP_INC(n), D, const & arg))                                \
    {                                                                                              \
      return AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), D)>(                       \
        boost::fusion::make_list(BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n), arg)));                     \
    }
 
  BOOST_PP_REPEAT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, MAKE_ALGO_CHECKER_LIST, BOOST_PP_EMPTY)
#else
  template<class... D>
  struct AlgorithmCheckerList : AlgorithmCheckerBase<AlgorithmCheckerList<D...>>
  {
    typedef typename boost::fusion::list<D...> ArgType;
 
    AlgorithmCheckerList(const ArgType & checkerList)
    : checkerList(checkerList)
    {
    }
 
    // Calls model.check for each checker in the fusion::list.
    // Each list element is supposed to implement the AlgorithmCheckerBase API.
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const;
 
    const ArgType & checkerList;
  };
 
  template<class... T>
  AlgorithmCheckerList<T...> makeAlgoCheckerList(const T &... args)
  {
    return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...));
  }
 
#endif
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  inline bool checkData(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/check.hxx"
 
#endif // ifndef __pinocchio_check_hpp__