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// |
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// Copyright (c) 2018 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __tsid_python_util_container_hpp__ |
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#define __tsid_python_util_container_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/solvers/fwd.hpp" |
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#include "tsid/math/constraint-equality.hpp" |
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#include "tsid/math/constraint-inequality.hpp" |
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#include "tsid/math/constraint-bound.hpp" |
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using namespace std; |
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namespace tsid { |
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namespace python { |
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typedef solvers::ConstraintLevel ConstraintLevel; |
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typedef solvers::HQPData HQPData; |
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class ConstraintLevels { |
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public: |
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ConstraintLevels() {} |
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~ConstraintLevels() {} |
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inline void print() { |
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✓✗ | 2 |
stringstream ss; |
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for (ConstraintLevel::const_iterator iit = m_std_const.begin(); |
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✓✓ | 8 |
iit != m_std_const.end(); iit++) { |
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auto c = iit->second; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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ss << " - " << c->name() << ": w=" << iit->first << ", "; |
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✓✗✓✓ |
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if (c->isEquality()) |
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✓✗ | 2 |
ss << "equality, "; |
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✓✗✓✗ |
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else if (c->isInequality()) |
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✓✗ | 1 |
ss << "inequality, "; |
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else |
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ss << "bound, "; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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ss << c->rows() << "x" << c->cols() << endl; |
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} |
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✓✗✓✗ ✓✗ |
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cout << ss.str() << endl; |
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} |
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inline ConstraintLevel& get() { return m_std_const; } |
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inline void append_eq(double num, |
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std::shared_ptr<math::ConstraintEquality> i) { |
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✓✗ | 2 |
m_std_const.push_back( |
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✓✗ | 4 |
solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, |
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i)); |
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} |
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inline void append_ineq(double num, |
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std::shared_ptr<math::ConstraintInequality> i) { |
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✓✗ | 1 |
m_std_const.push_back( |
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✓✗ | 2 |
solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, |
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i)); |
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} |
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inline void append_bound(double num, |
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std::shared_ptr<math::ConstraintBound> i) { |
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m_std_const.push_back( |
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solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, |
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i)); |
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} |
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private: |
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ConstraintLevel m_std_const; |
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}; |
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class HQPDatas { |
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public: |
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HQPDatas() {} |
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~HQPDatas() {} |
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inline void resize(size_t i) { m_std_hqp.resize(i); } |
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inline void print() const { |
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✓✗ | 2 |
stringstream ss; |
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unsigned int priority = 0; |
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✓✓ | 6 |
for (HQPData::const_iterator it = m_std_hqp.begin(); it != m_std_hqp.end(); |
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it++) { |
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✓✗✓✗ ✓✗ |
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ss << "Level " << priority << endl; |
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✓✓ | 17 |
for (ConstraintLevel::const_iterator iit = it->begin(); iit != it->end(); |
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iit++) { |
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auto c = iit->second; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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ss << " - " << c->name() << ": w=" << iit->first << ", "; |
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✓✗✓✓ |
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if (c->isEquality()) |
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✓✗ | 10 |
ss << "equality, "; |
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✓✗✓✗ |
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else if (c->isInequality()) |
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✓✗ | 3 |
ss << "inequality, "; |
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else |
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ss << "bound, "; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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ss << c->rows() << "x" << c->cols() << endl; |
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} |
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priority++; |
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} |
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✓✗✓✗ ✓✗ |
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cout << ss.str() << endl; |
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} |
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// inline void append (ConstraintLevel cons){ |
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// m_std_hqp.push_back(cons); |
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// } |
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inline void append_helper(ConstraintLevels* cons) { |
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m_std_hqp.push_back(cons->get()); |
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} |
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inline HQPData& get() { return m_std_hqp; } |
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inline bool set(const HQPData& data) { |
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m_std_hqp = data; |
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return true; |
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} |
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private: |
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HQPData m_std_hqp; |
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}; |
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} // namespace python |
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} // namespace tsid |
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#endif // ifndef __tsid_python_util_container_hpp__ |
| Generated by: GCOVR (Version 4.2) |