GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/utils/container.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 53 59 89.8%
Branches: 59 116 50.9%
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1 //
2 // Copyright (c) 2018 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 // tsid is distributed in the hope that it will be
10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
13 // received a copy of the GNU Lesser General Public License along with
14 // tsid If not, see
15 // <http://www.gnu.org/licenses/>.
16 //
17
18 #ifndef __tsid_python_util_container_hpp__
19 #define __tsid_python_util_container_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/solvers/fwd.hpp"
24 #include "tsid/math/constraint-equality.hpp"
25 #include "tsid/math/constraint-inequality.hpp"
26 #include "tsid/math/constraint-bound.hpp"
27
28 using namespace std;
29 namespace tsid {
30 namespace python {
31 typedef solvers::ConstraintLevel ConstraintLevel;
32 typedef solvers::HQPData HQPData;
33
34 class ConstraintLevels {
35 public:
36 2 ConstraintLevels() {}
37 2 ~ConstraintLevels() {}
38
39 2 inline void print() {
40
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 2 stringstream ss;
41 2 for (ConstraintLevel::const_iterator iit = m_std_const.begin();
42
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 5 iit != m_std_const.end(); iit++) {
43 3 auto c = iit->second;
44
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 3 ss << " - " << c->name() << ": w=" << iit->first << ", ";
45
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 3 if (c->isEquality())
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 2 ss << "equality, ";
47
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 1 else if (c->isInequality())
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 1 ss << "inequality, ";
49 else
50 ✗ ss << "bound, ";
51
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 3 ss << c->rows() << "x" << c->cols() << endl;
52 3 }
53
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 2 cout << ss.str() << endl;
54 2 }
55 2 inline ConstraintLevel& get() { return m_std_const; }
56
57 2 inline void append_eq(double num,
58 std::shared_ptr<math::ConstraintEquality> i) {
59
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 2 m_std_const.push_back(
60
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 4 solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
61 i));
62 2 }
63 1 inline void append_ineq(double num,
64 std::shared_ptr<math::ConstraintInequality> i) {
65
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66
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 2 solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
67 i));
68 1 }
69 ✗ inline void append_bound(double num,
70 std::shared_ptr<math::ConstraintBound> i) {
71 ✗ m_std_const.push_back(
72 ✗ solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
73 i));
74 }
75
76 private:
77 ConstraintLevel m_std_const;
78 };
79
80 class HQPDatas {
81 public:
82 1002 HQPDatas() {}
83 2003 ~HQPDatas() {}
84
85 ✗ inline void resize(size_t i) { m_std_hqp.resize(i); }
86
87 2 inline void print() const {
88
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 2 stringstream ss;
89 2 unsigned int priority = 0;
90
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 6 for (HQPData::const_iterator it = m_std_hqp.begin(); it != m_std_hqp.end();
91 4 it++) {
92
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 4 ss << "Level " << priority << endl;
93
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 17 for (ConstraintLevel::const_iterator iit = it->begin(); iit != it->end();
94 13 iit++) {
95 13 auto c = iit->second;
96
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 13 ss << " - " << c->name() << ": w=" << iit->first << ", ";
97
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 13 if (c->isEquality())
98
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 10 ss << "equality, ";
99
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 3 else if (c->isInequality())
100
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 3 ss << "inequality, ";
101 else
102 ✗ ss << "bound, ";
103
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 13 ss << c->rows() << "x" << c->cols() << endl;
104 13 }
105 4 priority++;
106 }
107
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 2 cout << ss.str() << endl;
108 2 }
109 // inline void append (ConstraintLevel cons){
110 // m_std_hqp.push_back(cons);
111 // }
112 2 inline void append_helper(ConstraintLevels* cons) {
113 2 m_std_hqp.push_back(cons->get());
114 2 }
115
116 1100 inline HQPData& get() { return m_std_hqp; }
117 1001 inline bool set(const HQPData& data) {
118 1001 m_std_hqp = data;
119 1001 return true;
120 }
121
122 private:
123 HQPData m_std_hqp;
124 };
125 } // namespace python
126 } // namespace tsid
127
128 #endif // ifndef __tsid_python_util_container_hpp__
129