visitor.cpp

//
// Copyright (c) 2015-2016 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.

#include <iostream>

#include <pinocchio/multibody/joint/joint-composite.hpp>
#include <pinocchio/multibody/model.hpp>
#include "pinocchio/multibody/visitor.hpp"

#define BOOST_TEST_DYN_LINK
#define BOOST_TEST_MODULE   ModuleTestVisitor

#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

namespace se3
{

  struct SimpleVisitor : public se3::fusion::JointVisitor<SimpleVisitor>
  {
    typedef boost::fusion::vector<const se3::Model &,
                                  se3::Data &,
                                  JointIndex
                                  > ArgsType;

    JOINT_VISITOR_INIT(SimpleVisitor);

    template<typename JointModel>
    static void algo(const se3::JointModelBase<JointModel> & jmodel,
                     se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
                     const se3::Model & model,
                     se3::Data & data,
                     JointIndex jointId);
  };

  template<typename JointModel>
  void SimpleVisitor::algo(const se3::JointModelBase<JointModel> & /*jmodel*/,
                           se3::JointDataBase<typename JointModel::JointDataDerived> & /*jdata*/,
                           const se3::Model & /*model*/,
                           se3::Data & /*data*/,
                           JointIndex /*dummy*/)
  { /* --- do nothing --- */ }

  template<>
  void SimpleVisitor::algo(const se3::JointModelBase<JointModelRevoluteUnaligned> & jmodel,
                           se3::JointDataBase<JointDataRevoluteUnaligned> & /*jdata*/,
                           const se3::Model & /*model*/,
                           se3::Data & /*data*/,
                           JointIndex /*dummy*/)
  {
    BOOST_CHECK( jmodel.shortname() == JointModelRevoluteUnaligned::classname() );
    Eigen::Vector3d axis = jmodel.derived().axis;
    Eigen::Vector3d axis_z; axis_z << 0,0,1;

    BOOST_CHECK ( axis == axis_z );
  }

} // namespace se3

/* Validates the access to memory stored in joint models, by using the class
 * joint model revolute unaligned. 
 */

BOOST_AUTO_TEST_SUITE ( TestVisitor )

BOOST_AUTO_TEST_CASE ( test_runal )
{
  using namespace se3;

  se3::Model model;
  model.addJoint(0,se3::JointModelRevoluteUnaligned(0,0,1),se3::SE3::Random(),"");
  Data data(model);

  for( Model::JointIndex i=1;i<(Model::JointIndex)model.njoints;++i )
    {
      SimpleVisitor::run(model.joints[i],data.joints[i],
                         SimpleVisitor::ArgsType(model,data,i));
    }
}

BOOST_AUTO_TEST_SUITE_END ()