pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
check.hpp
1 //
2 // Copyright (c) 2016-2018 CNRS
3 //
4 
5 #ifndef __pinocchio_check_hpp__
6 #define __pinocchio_check_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include <boost/fusion/container/list.hpp>
11 #include <boost/fusion/container/generation/make_list.hpp>
12 
13 #ifndef PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE
14 #define PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE 5
15 #endif
16 
17 namespace pinocchio
18 {
19 
21  template<typename AlgorithmCheckerDerived>
23  {
24  inline AlgorithmCheckerDerived& derived()
25  { return *static_cast< AlgorithmCheckerDerived*>(this); }
26 
27  inline const AlgorithmCheckerDerived& derived() const
28  { return *static_cast<const AlgorithmCheckerDerived*>(this); }
29 
30  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
31  inline bool checkModel(const ModelTpl<Scalar,Options,JointCollectionTpl> & model) const
32  { return derived().checkModel_impl(model); }
33  };
34 
35 #define PINOCCHIO_DEFINE_ALGO_CHECKER(NAME) \
36  struct NAME##Checker : public AlgorithmCheckerBase<NAME##Checker> \
37  { \
38  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> \
39  inline bool checkModel_impl(const ModelTpl<Scalar,Options,JointCollectionTpl> &) const; \
40  }
41 
43  PINOCCHIO_DEFINE_ALGO_CHECKER(Parent);
44 
45 #if !defined(BOOST_FUSION_HAS_VARIADIC_LIST)
46  template<BOOST_PP_ENUM_PARAMS_WITH_A_DEFAULT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,class D,boost::fusion::void_)>
48  struct AlgorithmCheckerList: AlgorithmCheckerBase< AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,D)> >
49  {
50  typedef typename boost::fusion::list<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,D)> ArgType;
51 
52  AlgorithmCheckerList(const ArgType & checkerList)
53  : checkerList(checkerList) {}
54 
55  // Calls model.check for each checker in the fusion::list.
56  // Each list element is supposed to implement the AlgorithmCheckerBase API.
57  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
58  bool checkModel_impl(const ModelTpl<Scalar,Options,JointCollectionTpl> & model) const;
59 
60  const ArgType & checkerList;
61  };
62 
63 #define MAKE_ALGO_CHECKER_LIST(z,n,_) \
64  \
65  template<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),class D)> \
66  AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),D)> makeAlgoCheckerList(BOOST_PP_ENUM_BINARY_PARAMS(BOOST_PP_INC(n) , D, const & arg)) \
67  { return AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),D)>(boost::fusion::make_list(BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),arg))); } \
68 
69  BOOST_PP_REPEAT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, MAKE_ALGO_CHECKER_LIST, BOOST_PP_EMPTY)
70 #else
71  template <class ...D>
72  struct AlgorithmCheckerList: AlgorithmCheckerBase< AlgorithmCheckerList<D...> >
73  {
74  typedef typename boost::fusion::list<D...> ArgType;
75 
76  AlgorithmCheckerList(const ArgType & checkerList)
77  : checkerList(checkerList) {}
78 
79  // Calls model.check for each checker in the fusion::list.
80  // Each list element is supposed to implement the AlgorithmCheckerBase API.
81  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
82  bool checkModel_impl(const ModelTpl<Scalar,Options,JointCollectionTpl> & model) const;
83 
84  const ArgType & checkerList;
85  };
86 
87  template <class ...T>
88  AlgorithmCheckerList<T...> makeAlgoCheckerList(const T&... args)
89  {
90  return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...));
91  }
92 
93 #endif
94 
101  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
102  inline bool checkData(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
104 
105 } // namespace pinocchio
106 
107 
108  /* --- Details -------------------------------------------------------------------- */
109 #include "pinocchio/algorithm/check.hxx"
110 
111 #endif // ifndef __pinocchio_check_hpp__
Checker having a list of Checker as input argument.
Definition: check.hpp:48
CRTP class describing the API of the checkers.
Definition: check.hpp:22
Main pinocchio namespace.
Definition: treeview.dox:24
bool checkData(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)