GCC Code Coverage Report

Directory: ./
File: src/task/multi-bound.cpp
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 121 172 70.3%
Branches: 67 223 30.0%
Line Branch Exec Source
1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 #include <sot/core/multi-bound.hh>
11 //#define VP_DEBUG_MODE 25
12 #include <sot/core/debug.hh>
13
14 using namespace dynamicgraph::sot;
15
16 1589 MultiBound::MultiBound(const double x)
17 1589 : mode(MODE_SINGLE),
18 1589 boundSingle(x),
19 1589 boundSup(0),
20 1589 boundInf(0),
21 1589 boundSupSetup(false),
22 1589 boundInfSetup(false) {}
23
24 1 MultiBound::MultiBound(const double xi, const double xs)
25 1 : mode(MODE_DOUBLE),
26 1 boundSingle(0),
27 1 boundSup(xs),
28 1 boundInf(xi),
29 1 boundSupSetup(true),
30 1 boundInfSetup(true) {}
31
32 2 MultiBound::MultiBound(const double x, const MultiBound::SupInfType bound)
33 2 : mode(MODE_DOUBLE),
34 2 boundSingle(0),
35
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 2 boundSup((bound == BOUND_SUP) ? x : 0),
36
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 2 boundInf((bound == BOUND_INF) ? x : 0),
37 2 boundSupSetup(bound == BOUND_SUP),
38 2 boundInfSetup(bound == BOUND_INF) {}
39
40 ✗ MultiBound::MultiBound(const MultiBound &clone)
41 ✗ : mode(clone.mode),
42 ✗ boundSingle(clone.boundSingle),
43 ✗ boundSup(clone.boundSup),
44 ✗ boundInf(clone.boundInf),
45 ✗ boundSupSetup(clone.boundSupSetup),
46 ✗ boundInfSetup(clone.boundInfSetup) {}
47
48 ✗ MultiBound::MultiBoundModeType MultiBound::getMode(void) const { return mode; }
49 1500 double MultiBound::getSingleBound(void) const {
50
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 1500 if (MODE_SINGLE != mode) {
51 ✗ SOT_THROW ExceptionTask(ExceptionTask::BOUND_TYPE,
52 ✗ "Accessing single bound of a non-single type.");
53 }
54 1500 return boundSingle;
55 }
56 ✗ double MultiBound::getDoubleBound(const MultiBound::SupInfType bound) const {
57 ✗ if (MODE_DOUBLE != mode) {
58 ✗ SOT_THROW ExceptionTask(ExceptionTask::BOUND_TYPE,
59 ✗ "Accessing double bound of a non-double type.");
60 }
61 ✗ switch (bound) {
62 ✗ case BOUND_SUP: {
63 ✗ if (!boundSupSetup) {
64 ✗ SOT_THROW ExceptionTask(ExceptionTask::BOUND_TYPE,
65 ✗ "Accessing un-setup sup bound.");
66 }
67 ✗ return boundSup;
68 }
69 ✗ case BOUND_INF: {
70 ✗ if (!boundInfSetup) {
71 ✗ SOT_THROW ExceptionTask(ExceptionTask::BOUND_TYPE,
72 ✗ "Accessing un-setup inf bound");
73 }
74 ✗ return boundInf;
75 }
76 }
77 ✗ return 0;
78 }
79 ✗ bool MultiBound::getDoubleBoundSetup(const MultiBound::SupInfType bound) const {
80 ✗ if (MODE_DOUBLE != mode) {
81 ✗ SOT_THROW ExceptionTask(ExceptionTask::BOUND_TYPE,
82 ✗ "Accessing double bound of a non-double type.");
83 }
84 ✗ switch (bound) {
85 ✗ case BOUND_SUP:
86 ✗ return boundSupSetup;
87 ✗ case BOUND_INF:
88 ✗ return boundInfSetup;
89 }
90 ✗ return false;
91 }
92 8 void MultiBound::setDoubleBound(SupInfType boundType, double boundValue) {
93
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 8 if (MODE_DOUBLE != mode) {
94 2 mode = MODE_DOUBLE;
95 2 boundSupSetup = false;
96 2 boundInfSetup = false;
97 }
98
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 8 switch (boundType) {
99 4 case BOUND_INF:
100 4 boundInfSetup = true;
101 4 boundInf = boundValue;
102 4 break;
103 4 case BOUND_SUP:
104 4 boundSupSetup = true;
105 4 boundSup = boundValue;
106 4 break;
107 }
108 8 }
109 4 void MultiBound::unsetDoubleBound(SupInfType boundType) {
110
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 4 if (MODE_DOUBLE != mode) {
111 1 mode = MODE_DOUBLE;
112 1 boundSupSetup = false;
113 1 boundInfSetup = false;
114 } else {
115
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 3 switch (boundType) {
116 1 case BOUND_INF:
117 1 boundInfSetup = false;
118 1 break;
119 2 case BOUND_SUP:
120 2 boundSupSetup = false;
121 2 break;
122 }
123 }
124 4 }
125 2 void MultiBound::setSingleBound(double boundValue) {
126 2 mode = MODE_SINGLE;
127 2 boundSingle = boundValue;
128 2 }
129
130 7 inline static void SOT_MULTI_BOUND_CHECK_C(std::istream &is, char check,
131 VectorMultiBound &v) {
132 char c;
133
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 7 is.get(c);
134
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 7 if (c != check) {
135 ✗ v.resize(0);
136 ✗ sotERROR << "Error while parsing vector multi-bound. Waiting for a '"
137 ✗ << check << "'. Get '" << c << "' instead. " << std::endl;
138 ✗ SOT_THROW ExceptionTask(ExceptionTask::PARSER_MULTI_BOUND,
139 ✗ "Error parsing vector multi-bound.");
140 }
141 7 }
142
143 namespace dynamicgraph {
144 namespace sot {
145
146 44 std::ostream &operator<<(std::ostream &os, const MultiBound &m) {
147
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 44 switch (m.mode) {
148 29 case MultiBound::MODE_SINGLE: {
149 29 os << m.boundSingle;
150 29 break;
151 }
152 15 case MultiBound::MODE_DOUBLE: {
153 15 os << "(";
154
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 15 if (m.boundInfSetup)
155 10 os << m.boundInf;
156 else
157 5 os << "--";
158 15 os << ",";
159
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 15 if (m.boundSupSetup)
160 10 os << m.boundSup;
161 else
162 5 os << "--";
163 15 os << ")";
164 15 break;
165 }
166 }
167 44 return os;
168 }
169
170 8 std::istream &operator>>(std::istream &is, MultiBound &m) {
171 sotDEBUGIN(15);
172 char c;
173 double val;
174
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 8 is.get(c);
175
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 8 if (c == '(') {
176 sotDEBUG(15) << "Double" << std::endl;
177 char c2[3];
178
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 6 is.get(c2, 3);
179
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 6 if (std::string(c2, 2) != "--") {
180
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 4 is.putback(c2[1]);
181
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 4 is.putback(c2[0]);
182 //{char strbuf[256]; is.getline(strbuf,256); sotDEBUG(1) <<
183 //"#"<<strbuf<<"#"<<std::endl;}
184
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 4 is >> val;
185 sotDEBUG(15) << "First val = " << val << std::endl;
186
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 4 m.setDoubleBound(MultiBound::BOUND_INF, val);
187 } else {
188
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 2 m.unsetDoubleBound(MultiBound::BOUND_INF);
189 }
190
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 6 is.get(c);
191
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 6 if (c != ',') {
192 ✗ sotERROR << "Error while parsing multi-bound. Waiting for a ','. Get '"
193 ✗ << c << "' instead. " << std::endl;
194 ✗ SOT_THROW ExceptionTask(
195 ✗ ExceptionTask::PARSER_MULTI_BOUND,
196 ✗ "Error parsing multi-bound, while waiting for a ','.");
197 }
198
199
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 6 is.get(c2, 3);
200
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 6 if (std::string(c2, 2) != "--") {
201
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 4 is.putback(c2[1]);
202
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 4 is.putback(c2[0]);
203
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 4 is >> val;
204 sotDEBUG(15) << "Second val = " << val << std::endl;
205
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 4 m.setDoubleBound(MultiBound::BOUND_SUP, val);
206 } else {
207
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 2 m.unsetDoubleBound(MultiBound::BOUND_SUP);
208 }
209
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 6 is.get(c);
210
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 6 if (c != ')') {
211 ✗ sotERROR << "Error while parsing multi-bound. Waiting for a ')'. Get '"
212 ✗ << c << "' instead. " << std::endl;
213 ✗ SOT_THROW ExceptionTask(
214 ✗ ExceptionTask::PARSER_MULTI_BOUND,
215 ✗ "Error parsing multi-bound, while waiting for a ')'.");
216 }
217 } else {
218 sotDEBUG(15) << "Single ('" << c << "')" << std::endl;
219
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 2 is.putback(c);
220
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 2 is >> val;
221
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 2 m.setSingleBound(val);
222 }
223
224 sotDEBUGOUT(15);
225 8 return is;
226 }
227
228 5 std::ostream &operator<<(std::ostream &os, const VectorMultiBound &v) {
229 5 os << "[" << v.size() << "](";
230
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 33 for (VectorMultiBound::const_iterator iter = v.begin(); iter != v.end();
231 28 ++iter) {
232
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 28 if (iter != v.begin()) os << ",";
233
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 28 os << (*iter);
234 }
235 5 return os << ")";
236 }
237
238 1 std::istream &operator>>(std::istream &is, VectorMultiBound &v) {
239 unsigned int vali;
240
241 /* Read the vector size. */
242
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 1 SOT_MULTI_BOUND_CHECK_C(is, '[', v);
243
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 1 is >> vali;
244
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 1 v.resize(vali);
245
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 1 SOT_MULTI_BOUND_CHECK_C(is, ']', v);
246
247 /* Loop for the vals. */
248
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 1 SOT_MULTI_BOUND_CHECK_C(is, '(', v);
249
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 5 for (unsigned int i = 0; i < vali; ++i) {
250
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 4 is >> v[i];
251
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 4 if (i != vali - 1) {
252
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 3 SOT_MULTI_BOUND_CHECK_C(is, ',', v);
253 } else {
254
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 1 SOT_MULTI_BOUND_CHECK_C(is, ')', v);
255 }
256 }
257
258 1 return is;
259 }
260
261 } /* namespace sot */
262 } /* namespace dynamicgraph */
263