GCC Code Coverage Report


Directory: ./
File: src/formulations/inverse-dynamics-formulation-base.cpp
Date: 2024-08-26 20:29:39
Exec Total Coverage
Lines: 0 13 0.0%
Branches: 0 2 0.0%

Line Branch Exec Source
1 //
2 // Copyright (c) 2017 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 #include "tsid/formulations/inverse-dynamics-formulation-base.hpp"
19
20 namespace tsid {
21
22 TaskLevel::TaskLevel(tasks::TaskBase& task, unsigned int priority)
23 : task(task), priority(priority) {}
24
25 TaskLevelForce::TaskLevelForce(tasks::TaskContactForce& task,
26 unsigned int priority)
27 : task(task), priority(priority) {}
28
29 InverseDynamicsFormulationBase::InverseDynamicsFormulationBase(
30 const std::string& name, RobotWrapper& robot, bool verbose)
31 : m_name(name), m_robot(robot), m_verbose(verbose) {}
32
33 MeasuredForceLevel::MeasuredForceLevel(
34 contacts::MeasuredForceBase& measuredForce)
35 : measuredForce(measuredForce) {}
36
37 bool InverseDynamicsFormulationBase::addRigidContact(ContactBase& contact) {
38 return addRigidContact(contact, 1e-5);
39 }
40 } // namespace tsid
41