GCC Code Coverage Report

Directory:	./
File:	test/math.cpp
Date:	2025-04-13 14:25:19

	Exec	Total	Coverage
Lines:	75	75	100.0%
Branches:	435	868	50.1%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			#define _USE_MATH_DEFINES
37			#include <cmath>
38
39			#define BOOST_TEST_MODULE COAL_MATH
40			#include <boost/test/included/unit_test.hpp>
41
42			#include "coal/data_types.h"
43			#include "coal/math/transform.h"
44
45			#include "coal/internal/intersect.h"
46			#include "coal/internal/tools.h"
47
48			using namespace coal;
49
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51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s v1(1, 2, 3);
52	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(v1[0] == Scalar(1));
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56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s v2 = v1;
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s v3(Scalar(3.3), Scalar(4.3), Scalar(5.3));
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 += v3;
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60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 -= v3;
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62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 -= v3;
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66	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v1.array() *= v3.array();
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68	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v1.array() /= v3.array();
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70	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v1.array() /= v3.array();
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72	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v1.array() *= v3.array();
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74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 *= 2.0;
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76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 /= 2.0;
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78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 /= 2.0;
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80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 *= 2.0;
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82	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v1.array() += 2.0;
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84	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v1.array() -= 2.0;
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86	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v1.array() -= 2.0;
87	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(isEqual(v1, (v2.array() - 2.0).matrix()));
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91
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 = Vec3s(1.0, 2.0, 3.0);
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v2 = Vec3s(3.0, 4.0, 5.0);
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96
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 = Vec3s(3.0, 4.0, 5.0);
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101
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v1 = Vec3s(1.0, 2.0, 3.0);
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v2 = Vec3s(3.0, 4.0, 5.0);
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106		2	}
107
108		1	Vec3s rotate(Vec3s input, Scalar w, Vec3s vec) {
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111			}
112
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114	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Quats q1(Quats::Identity()), q2, q3;
115	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q2 = fromAxisAngle(Vec3s(0, 0, 1), Scalar(M_PI / 2));
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117
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119
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123			isEqual(rotate(v, q3.w(), Vec3s(q3.x(), q3.y(), q3.z())), q3 * v));
124		2	}
125
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127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Quats q = fromAxisAngle(Vec3s(0, 0, 1), Scalar(M_PI / 2));
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130
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132
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134
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vec3s rv(q * v);
136			// typename Transform3s::transform_return_type<Vec3s>::type output =
137			// tf * v;
138			// std::cout << rv << std::endl;
139			// std::cout << output.lhs() << std::endl;
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141		2	}
142
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144	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (size_t i = 0; i < 100; ++i) {
145	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	const Transform3s tf = Transform3s::Random();
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147			}
148		2	}
149