Fix copy-constructor and copy-assignment operator in ContactPhaseList class

CHANGELOG.md

@@ -56,6 +56,7 @@ All notable changes to this project are documented in this file.
 - Call `positionInterface->setRefSpeeds()` only once when a position reference is set in `YarpRobotControl` (https://github.com/dic-iit/bipedal-locomotion-framework/pull/271)
 - Fix initialization of reference frame for world in `LeggedOdometry` class. (https://github.com/dic-iit/bipedal-locomotion-framework/pull/289)
 - `LeggedOdometry::Impl::updateInternalContactStates()` is now called even if the legged odometry is not initialize. This was required to have a meaningful base estimation the first time `LeggedOdometry::changeFixedFrame()` is called. (https://github.com/dic-iit/bipedal-locomotion-framework/pull/292)
+- Avoid to use the default copy-constructor and copy-assignment operator in `ContactPhaseList` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/295)
 
 ## [0.1.0] - 2021-02-22
 ### Added

src/Contacts/include/BipedalLocomotion/Contacts/ContactPhaseList.h

@@ -1,7 +1,7 @@
 /**
  * @file ContactPhase.h
- * @authors Stefano Dafarra
- * @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @authors Stefano Dafarra, Giulio Romualdi
+ * @copyright 2020, 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
  */
 
@@ -43,6 +43,59 @@ class ContactPhaseList
  using const_iterator = std::vector<ContactPhase>::const_iterator;
  using const_reverse_iterator = std::vector<ContactPhase>::const_reverse_iterator;
 
+ /**
+ * @brief Constructor.
+ * @note This definition is necessary because the Copy constructor and the Move constructor are
+ * manually defined.
+ */
+ ContactPhaseList() = default;
+
+ /**
+ * @brief Destructor.
+ * @note This definition is necessary to satisfy the rule of five.
+ */
+ ~ContactPhaseList() = default;
+
+ /**
+ * @brief Copy constructor.
+ * @param other another ContactPhaseList.
+ * @note When the copy constructor operator is called the content of `other.m_contactList` will
+ * be copied in `this->m_contactList`, while `this->m_phases` will be regenerated using the
+ * content of `this->m_contactList`. Notice that Contacts::ContactPhase class stores an
+ * std::unordered_map<std::string, ContactList::const_iterator> called
+ * Contacts::ContactPhase::activeContacts. So copying the content of `other.m_phases` into
+ * `this->m_phases` is wrong since all the iterators stored inside the contact phases should
+ * refer to the lists stored within this class, not the original input lists.
+ */
+ ContactPhaseList(const ContactPhaseList& other);
+
+ /**
+ * @brief Move constructor.
+ * @param other another ContactPhaseList.
+ * @note This definition is necessary to satisfy the rule of five.
+ */
+ ContactPhaseList(ContactPhaseList&& other) = default;
+
+ /**
+ * @brief Copy assignment operator.
+ * @param other another ContactPhaseList.
+ * @note When the copy assignment operator is called the content of `other.m_contactList` will
+ * be copied in `this->m_contactList`, while `this->m_phases` will be regenerated using the
+ * content of `this->m_contactList`. Notice that Contacts::ContactPhase class stores an
+ * std::unordered_map<std::string, ContactList::const_iterator> called
+ * Contacts::ContactPhase::activeContacts. So copying the content of `other.m_phases` into
+ * `this->m_phases` is wrong since all the iterators stored inside the contact phases should
+ * refer to the lists stored within this class, not the original input lists.
+ */
+ ContactPhaseList& operator=(const ContactPhaseList& other);
+
+ /**
+ * @brief Move assignment operator.
+ * @param other another ContactPhaseList.
+ * @note This definition is necessary to satisfy the rule of five.
+ */
+ ContactPhaseList& operator=(ContactPhaseList&& other) = default;
+
  /**
  * @brief Set the input lists
  * @param contactLists The set of lists to be used for computing the phases.

src/Contacts/src/ContactPhaseList.cpp

@@ -1,31 +1,52 @@
 /**
  * @file ContactPhase.cpp
- * @authors Stefano Dafarra
- * @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @authors Stefano Dafarra, Giulio Romualdi
+ * @copyright 2020, 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
  */
 
 #include <BipedalLocomotion/Contacts/ContactPhaseList.h>
+#include <BipedalLocomotion/TextLogging/Logger.h>
 
-#include <iostream>
-#include <map>
 #include <cassert>
+#include <map>
 
 using namespace BipedalLocomotion::Contacts;
 
-void BipedalLocomotion::Contacts::ContactPhaseList::createPhases()
+ContactPhaseList::ContactPhaseList(const ContactPhaseList& other)
+{
+ this->setLists(other.m_contactLists);
+}
+
+ContactPhaseList& ContactPhaseList::operator=(const ContactPhaseList& other)
+{
+ // if the objects are the same just return this
+ if (&other == this)
+ {
+ return *this;
+ }
+
+ this->setLists(other.m_contactLists);
+ return *this;
+}
+
+void ContactPhaseList::createPhases()
 {
  m_phases.clear();
 
- std::map<double, std::unordered_map<std::string, ContactList::const_iterator>> activations, deactivations;
+ std::map<double, std::unordered_map<std::string, ContactList::const_iterator>> activations,
+ deactivations;
 
- for (ContactListMap::iterator list = m_contactLists.begin(); list != m_contactLists.end(); ++list)
+ for (ContactListMap::iterator list = m_contactLists.begin(); list != m_contactLists.end();
+ ++list)
  {
  const std::string& key = list->first;
- for (ContactList::const_iterator step = list->second.begin(); step != list->second.end(); ++step)
+ for (ContactList::const_iterator step = list->second.begin(); step != list->second.end();
+ ++step)
  {
- activations[step->activationTime][key] = step; //By construction, there is only a step given a key and activationTime
- deactivations[step->deactivationTime][key] = step;
+ activations[step->activationTime][key] = step; // By construction, there is only a step
+ // given a key and activationTime
+ deactivations[step->deactivationTime][key] = step;
  }
  }
 
@@ -42,63 +63,74 @@ void BipedalLocomotion::Contacts::ContactPhaseList::createPhases()
 
  while ((activations.size() + deactivations.size()) > 1)
  {
- if ((activations.size() == 0) || (deactivations.begin()->first <= activations.begin()->first))
+ if ((activations.size() == 0)
+ || (deactivations.begin()->first <= activations.begin()->first))
  {
- //Here I need to remove from the current phase the contacts that are going to end
+ // Here I need to remove from the current phase the contacts that are going to end
  currentPhase.endTime = deactivations.begin()->first;
  m_phases.push_back(currentPhase);
 
  currentPhase.beginTime = deactivations.begin()->first;
 
  for (auto& toBeRemoved : deactivations.begin()->second)
  {
- currentPhase.activeContacts.erase(toBeRemoved.first); //Erase all the contacts which are deactivativated in this instant
+ currentPhase.activeContacts.erase(toBeRemoved.first); // Erase all the contacts
+ // which are deactivativated
+ // in this instant
  }
 
  deactivations.erase(deactivations.begin());
 
  if (activations.size() && (deactivations.begin()->first == activations.begin()->first))
  {
  currentPhase.activeContacts.insert(activations.begin()->second.begin(),
- activations.begin()->second.end()); //Add the new contacts to the list.
+ activations.begin()->second.end()); // Add the
+ // new
+ // contacts
+ // to the
+ // list.
 
  activations.erase(activations.begin());
  }
- }
- else // (activations.begin()->first < deactivations.begin()->first)
+ } else // (activations.begin()->first < deactivations.begin()->first)
  {
  currentPhase.endTime = activations.begin()->first;
  m_phases.push_back(currentPhase);
 
  currentPhase.beginTime = activations.begin()->first;
  currentPhase.activeContacts.insert(activations.begin()->second.begin(),
- activations.begin()->second.end()); //Add the new contacts to the list.
+ activations.begin()->second.end()); // Add the new
+ // contacts to
+ // the list.
 
  activations.erase(activations.begin());
  }
  }
 
- assert(deactivations.size() == 1); //Only one element should be left (deactivations and activations were equal in number, but the head of activations was deleted at the beginning).
+ assert(deactivations.size() == 1); // Only one element should be left (deactivations and
+ // activations were equal in number, but the head of
+ // activations was deleted at the beginning).
  currentPhase.endTime = deactivations.begin()->first;
  m_phases.push_back(currentPhase);
 }
 
-void ContactPhaseList::setLists(const ContactListMap &contactLists)
+void ContactPhaseList::setLists(const ContactListMap& contactLists)
 {
  m_contactLists = contactLists;
  createPhases();
 }
 
-bool ContactPhaseList::setLists(const std::initializer_list<ContactList> &contactLists)
+bool ContactPhaseList::setLists(const std::initializer_list<ContactList>& contactLists)
 {
  m_contactLists.clear();
  for (const ContactList& list : contactLists)
  {
- std::pair<ContactListMap::iterator, bool> res = m_contactLists.insert(ContactListMap::value_type(list.defaultName(), list));
+ std::pair<ContactListMap::iterator, bool> res
+ = m_contactLists.insert(ContactListMap::value_type(list.defaultName(), list));
 
  if (!res.second)
  {
- std::cerr << "[ContactPhaseList::setLists] Multiple items have the same defaultName." <<std::endl;
+ log()->error("[ContactPhaseList::setLists] Multiple items have the same defaultName.");
  return false;
  }
  }
@@ -108,7 +140,8 @@ bool ContactPhaseList::setLists(const std::initializer_list<ContactList> &contac
  return true;
 }
 
-const BipedalLocomotion::Contacts::ContactListMap &BipedalLocomotion::Contacts::ContactPhaseList::lists() const
+const BipedalLocomotion::Contacts::ContactListMap&
+BipedalLocomotion::Contacts::ContactPhaseList::lists() const
 {
  return m_contactLists;
 }
@@ -153,7 +186,7 @@ ContactPhaseList::const_reverse_iterator ContactPhaseList::crend() const
  return m_phases.crend();
 }
 
-const ContactPhase &ContactPhaseList::operator[](size_t index) const
+const ContactPhase& ContactPhaseList::operator[](size_t index) const
 {
  return m_phases[index];
 }

src/Contacts/tests/Contacts/ContactPhaseListTest.cpp

@@ -1,7 +1,7 @@
 /**
  * @file ContactPhaseListTest.cpp
- * @authors Stefano Dafarra
- * @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @authors Stefano Dafarra, Giulio Romualdi
+ * @copyright 2020,2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
  */
 
@@ -12,6 +12,60 @@
 
 using namespace BipedalLocomotion::Contacts;
 
+TEST_CASE("Rule of five")
+{
+ ContactPhaseList phaseList;
+
+ ContactListMap contactListMap;
+ REQUIRE(contactListMap["left"].addContact(manif::SE3d::Identity(), 0.0, 1.0));
+ REQUIRE(contactListMap["left"].addContact(manif::SE3d::Identity(), 2.0, 5.0));
+ REQUIRE(contactListMap["left"].addContact(manif::SE3d::Identity(), 6.0, 7.0));
+
+ REQUIRE(contactListMap["right"].addContact(manif::SE3d::Identity(), 0.0, 3.0));
+ REQUIRE(contactListMap["right"].addContact(manif::SE3d::Identity(), 4.0, 7.0));
+
+ phaseList.setLists(contactListMap);
+
+ SECTION("Copy constructor")
+ {
+ ContactPhaseList newList(phaseList);
+ phaseList.clear();
+ const ContactListMap& contactListMap = newList.lists();
+ ContactList::const_iterator expectedLeft = contactListMap.at("left").begin();
+ REQUIRE(newList.firstPhase()->activeContacts.at("left")->pose == manif::SE3d::Identity());
+ }
+
+ SECTION("Copy assignment operator")
+ {
+ ContactPhaseList newList;
+ newList = phaseList;
+
+ phaseList.clear();
+ const ContactListMap& contactListMap = newList.lists();
+ ContactList::const_iterator expectedLeft = contactListMap.at("left").begin();
+ REQUIRE(newList.firstPhase()->activeContacts.at("left")->pose == manif::SE3d::Identity());
+ }
+
+ SECTION("Move constructor")
+ {
+ ContactPhaseList newList(std::move(phaseList));
+
+ const ContactListMap& contactListMap = newList.lists();
+ ContactList::const_iterator expectedLeft = contactListMap.at("left").begin();
+ REQUIRE(newList.firstPhase()->activeContacts.at("left")->pose == manif::SE3d::Identity());
+ }
+
+ SECTION("Move assignment operator")
+ {
+ ContactPhaseList newList;
+ newList = std::move(phaseList);
+
+ const ContactListMap& contactListMap = newList.lists();
+ ContactList::const_iterator expectedLeft = contactListMap.at("left").begin();
+ REQUIRE(newList.firstPhase()->activeContacts.at("left")->pose == manif::SE3d::Identity());
+ }
+}
+
 TEST_CASE("ContactPhaseList")
 {
  ContactPhaseList phaseList;
@@ -55,7 +109,6 @@ TEST_CASE("ContactPhaseList")
  ContactList::const_iterator expectedRight = contactListMap.at("right").begin();
  ContactList::const_iterator expectedAdditional = contactListMap.at("additional").begin();
 
-
  ContactPhaseList::const_iterator phase = phaseList.begin();
  REQUIRE(phase->beginTime == 0.0);
  REQUIRE(phase->endTime == 1.0);
@@ -149,5 +202,4 @@ TEST_CASE("ContactPhaseList")
  ok = expectedAdditional == contactListMap.at("additional").end();
  REQUIRE(ok);
  }
-
 }