GCC Code Coverage Report

Directory: ./
File: src/feature/feature-abstract.cpp
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 40 59 67.8%
Branches: 65 140 46.4%
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1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 #include <dynamic-graph/all-commands.h>
11
12 #include <iostream>
13 #include <sot/core/feature-abstract.hh>
14 #include <sot/core/pool.hh>
15
16 #include "sot/core/debug.hh"
17 #include "sot/core/exception-feature.hh"
18
19 using namespace dynamicgraph::sot;
20 using dynamicgraph::sot::ExceptionFeature;
21
22 const std::string FeatureAbstract::CLASS_NAME = "FeatureAbstract";
23
24 12 FeatureAbstract::FeatureAbstract(const std::string &name)
25 : Entity(name),
26
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 12 selectionSIN(NULL,
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 24 "sotFeatureAbstract(" + name + ")::input(flag)::selec"),
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 12 errordotSIN(
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 24 NULL, "sotFeatureAbstract(" + name + ")::input(vector)::errordotIN"),
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 12 errorSOUT(boost::bind(&FeatureAbstract::computeError, this, _1, _2),
31 selectionSIN,
32
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 24 "sotFeatureAbstract(" + name + ")::output(vector)::error"),
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 12 errordotSOUT(boost::bind(&FeatureAbstract::computeErrorDot, this, _1, _2),
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 24 selectionSIN << errordotSIN,
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 24 "sotFeatureAbstract(" + name + ")::output(vector)::errordot")
36
37 ,
38
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 12 jacobianSOUT(
39 boost::bind(&FeatureAbstract::computeJacobian, this, _1, _2),
40 selectionSIN,
41
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 24 "sotFeatureAbstract(" + name + ")::output(matrix)::jacobian"),
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 12 dimensionSOUT(boost::bind(&FeatureAbstract::getDimension, this, _1, _2),
43 selectionSIN,
44
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 36 "sotFeatureAbstract(" + name + ")::output(uint)::dim") {
45
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 12 selectionSIN = true;
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 24 signalRegistration(selectionSIN << errorSOUT << jacobianSOUT
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 12 << dimensionSOUT);
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 12 featureRegistration();
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 12 initCommands();
50 12 }
51
52 12 void FeatureAbstract::initCommands(void) {
53 using namespace command;
54
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 24 addCommand("setReference",
55 new dynamicgraph::command::Setter<FeatureAbstract, std::string>(
56 *this, &FeatureAbstract::setReferenceByName,
57 "Give the name of the reference feature.\nInput: a string "
58
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 12 "(feature name)."));
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 24 addCommand("getReference",
60 new dynamicgraph::command::Getter<FeatureAbstract, std::string>(
61 *this, &FeatureAbstract::getReferenceByName,
62 "Get the name of the reference feature.\nOutput: a string "
63
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 12 "(feature name)."));
64 12 }
65
66 12 void FeatureAbstract::featureRegistration(void) {
67 12 PoolStorage::getInstance()->registerFeature(name, this);
68 12 }
69
70 ✗ std::ostream &FeatureAbstract::writeGraph(std::ostream &os) const {
71 ✗ Entity::writeGraph(os);
72
73 ✗ if (isReferenceSet()) {
74 ✗ const FeatureAbstract *asotFA = getReferenceAbstract();
75 ✗ os << "\t\"" << asotFA->getName() << "\" -> \"" << getName() << "\""
76 ✗ << "[ color=darkseagreen4 ]" << std::endl;
77 } else
78 ✗ std::cout << "asotFAT : 0" << std::endl;
79
80 ✗ return os;
81 }
82
83 ✗ void FeatureAbstract::setReferenceByName(const std::string &name) {
84 ✗ setReference(
85 ✗ &dynamicgraph::sot::PoolStorage::getInstance()->getFeature(name));
86 }
87
88 ✗ std::string FeatureAbstract::getReferenceByName() const {
89 ✗ if (isReferenceSet())
90 ✗ return getReferenceAbstract()->getName();
91 else
92 ✗ return "none";
93 }
94
95 10 dynamicgraph::Vector &FeatureAbstract::computeErrorDot(
96 dynamicgraph::Vector &res, int time) {
97
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 10 const Flags &fl = selectionSIN.access(time);
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 10 const int &dim = dimensionSOUT(time);
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100 10 unsigned int curr = 0;
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 10 res.resize(dim);
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103 sotDEBUG(25) << "Dim = " << dim << std::endl;
104
105
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 10 if (isReferenceSet() && getReferenceAbstract()->errordotSIN.isPlugged()) {
106 const dynamicgraph::Vector &errdotDes =
107
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 10 getReferenceAbstract()->errordotSIN(time);
108 sotDEBUG(15) << "Err* = " << errdotDes;
109
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 10 if (errdotDes.size() < dim) {
110 ✗ SOT_THROW ExceptionFeature(
111 ✗ ExceptionFeature::UNCOMPATIBLE_SIZE,
112 "Error: dimension uncompatible with des->errorIN size."
113 " (while considering feature <%s>).",
114 ✗ getName().c_str());
115 }
116
117
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 70 for (int i = 0; i < errdotDes.size(); ++i)
118
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 60 if (fl(i)) res(curr++) = -errdotDes(i);
119 } else
120 ✗ res.setZero();
121
122 10 return res;
123 }
124