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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	tests/test_dependencies_usage.cpp	Lines:	68	68	100.0 %
Date:	2023-12-03 14:15:28	Branches:	435	870	50.0 %


#include <boost/test/unit_test.hpp>
#include <sstream>

#include "aig/unittests/pyrene_settings.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/parsers/srdf.hpp"
#include "pinocchio/parsers/urdf.hpp"

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_load_talos_model) {
  pinocchio::Model model;
  pinocchio::urdf::buildModel(aig::unittests::urdf,
                              pinocchio::JointModelFreeFlyer(), model);
  BOOST_CHECK_EQUAL(model.name, "talos");
}

BOOST_AUTO_TEST_CASE(test_load_talos_model_from_xml) {
  pinocchio::Model model;

  // Read file as XML
  std::ifstream file(aig::unittests::urdf.c_str());
  std::stringstream buffer;
  buffer << file.rdbuf();
  pinocchio::urdf::buildModelFromXML(buffer.str(),
                                     pinocchio::JointModelFreeFlyer(), model);
  BOOST_CHECK_EQUAL(model.name, "talos");
}

BOOST_AUTO_TEST_CASE(test_get_reference_config_from_xml) {
  pinocchio::Model model;
  pinocchio::urdf::buildModel(aig::unittests::urdf,
                              pinocchio::JointModelFreeFlyer(), model);
  // creating the srdf file stream
  std::ifstream srdf_file(aig::unittests::srdf.c_str());

  // Load the srdf
  std::stringstream buffer;
  buffer << srdf_file.rdbuf();
  pinocchio::srdf::loadReferenceConfigurationsFromXML(model, buffer, false);
  Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
  BOOST_CHECK_EQUAL(q.size(), model.nq);
}

BOOST_AUTO_TEST_CASE(test_get_reference_config) {
  pinocchio::Model model;
  pinocchio::urdf::buildModel(aig::unittests::urdf,
                              pinocchio::JointModelFreeFlyer(), model);
  pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
                                               false);
  Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
  BOOST_CHECK_EQUAL(q.size(), model.nq);
}

BOOST_AUTO_TEST_CASE(test_compute_joint_placement) {
  pinocchio::Model model;
  pinocchio::urdf::buildModel(aig::unittests::urdf,
                              pinocchio::JointModelFreeFlyer(), model);
  pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
                                               false);
  Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];

  Eigen::Vector3d test;
  test << -0.02, 0.085, -0.27105;
  BOOST_CHECK_EQUAL(test, model.jointPlacements[2].translation());
}

BOOST_AUTO_TEST_CASE(test_compute_com) {
  pinocchio::Model model;
  pinocchio::urdf::buildModel(aig::unittests::urdf,
                              pinocchio::JointModelFreeFlyer(), model);
  pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
                                               false);
  Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
  pinocchio::Data data(model);
  Eigen::Vector3d com = pinocchio::centerOfMass(model, data, q);

  Eigen::Vector3d test;
  test << -0.0031639, 0.00123738, 0.876681;
  BOOST_CHECK(test.isApprox(com, 1e-5));
}

BOOST_AUTO_TEST_CASE(test_eigen_norms) {
  Eigen::Vector3d x(3, 4, 0);
  BOOST_CHECK_EQUAL(x.norm(), 5.0);
}

BOOST_AUTO_TEST_CASE(test_se3) {
  pinocchio::SE3 se3;
  se3.setIdentity();
  BOOST_CHECK_EQUAL(se3.rotation(), Eigen::Matrix3d::Identity());
  BOOST_CHECK_EQUAL(se3.translation(), Eigen::Vector3d::Zero());
}

BOOST_AUTO_TEST_CASE(test_skew) {
  Eigen::Vector3d v;
  v << 2, 3, 4;
  Eigen::Matrix3d skew_mat;
  skew_mat << 0, -4, 3, 4, 0, -2, -3, 2, 0;
  BOOST_CHECK_EQUAL(pinocchio::skew(v), skew_mat);
}

BOOST_AUTO_TEST_SUITE_END()


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			#include <boost/test/unit_test.hpp>
2			#include <sstream>
3
4			#include "aig/unittests/pyrene_settings.hpp"
5			#include "pinocchio/algorithm/center-of-mass.hpp"
6			#include "pinocchio/parsers/srdf.hpp"
7			#include "pinocchio/parsers/urdf.hpp"
8
9			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
10
11	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_load_talos_model) {
12	✓✗	4	pinocchio::Model model;
13			pinocchio::urdf::buildModel(aig::unittests::urdf,
14	✓✗✓✗ ✓✗	2	pinocchio::JointModelFreeFlyer(), model);
15	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(model.name, "talos");
16		2	}
17
18	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_load_talos_model_from_xml) {
19	✓✗	4	pinocchio::Model model;
20
21			// Read file as XML
22	✓✗	4	std::ifstream file(aig::unittests::urdf.c_str());
23	✓✗	4	std::stringstream buffer;
24	✓✗✓✗	2	buffer << file.rdbuf();
25	✓✗	4	pinocchio::urdf::buildModelFromXML(buffer.str(),
26	✓✗✓✗ ✓✗	6	pinocchio::JointModelFreeFlyer(), model);
27	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(model.name, "talos");
28		2	}
29
30	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_get_reference_config_from_xml) {
31	✓✗	4	pinocchio::Model model;
32			pinocchio::urdf::buildModel(aig::unittests::urdf,
33	✓✗✓✗ ✓✗	2	pinocchio::JointModelFreeFlyer(), model);
34			// creating the srdf file stream
35	✓✗	4	std::ifstream srdf_file(aig::unittests::srdf.c_str());
36
37			// Load the srdf
38	✓✗	4	std::stringstream buffer;
39	✓✗✓✗	2	buffer << srdf_file.rdbuf();
40	✓✗	2	pinocchio::srdf::loadReferenceConfigurationsFromXML(model, buffer, false);
41	✓✗✓✗ ✓✗	6	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
42	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(q.size(), model.nq);
43		2	}
44
45	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_get_reference_config) {
46	✓✗	4	pinocchio::Model model;
47			pinocchio::urdf::buildModel(aig::unittests::urdf,
48	✓✗✓✗ ✓✗	2	pinocchio::JointModelFreeFlyer(), model);
49	✓✗	2	pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
50			false);
51	✓✗✓✗ ✓✗	6	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
52	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(q.size(), model.nq);
53		2	}
54
55	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_compute_joint_placement) {
56	✓✗	4	pinocchio::Model model;
57			pinocchio::urdf::buildModel(aig::unittests::urdf,
58	✓✗✓✗ ✓✗	2	pinocchio::JointModelFreeFlyer(), model);
59	✓✗	2	pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
60			false);
61	✓✗✓✗ ✓✗	6	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
62
63	✓✗	2	Eigen::Vector3d test;
64	✓✗✓✗ ✓✗	2	test << -0.02, 0.085, -0.27105;
65	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(test, model.jointPlacements[2].translation());
66		2	}
67
68	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_compute_com) {
69	✓✗	4	pinocchio::Model model;
70			pinocchio::urdf::buildModel(aig::unittests::urdf,
71	✓✗✓✗ ✓✗	2	pinocchio::JointModelFreeFlyer(), model);
72	✓✗	2	pinocchio::srdf::loadReferenceConfigurations(model, aig::unittests::srdf,
73			false);
74	✓✗✓✗ ✓✗	6	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
75	✓✗	4	pinocchio::Data data(model);
76	✓✗✓✗	2	Eigen::Vector3d com = pinocchio::centerOfMass(model, data, q);
77
78	✓✗	2	Eigen::Vector3d test;
79	✓✗✓✗ ✓✗	2	test << -0.0031639, 0.00123738, 0.876681;
80	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(test.isApprox(com, 1e-5));
81		2	}
82
83	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_eigen_norms) {
84	✓✗	2	Eigen::Vector3d x(3, 4, 0);
85	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(x.norm(), 5.0);
86		2	}
87
88	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_se3) {
89	✓✗	2	pinocchio::SE3 se3;
90	✓✗	2	se3.setIdentity();
91	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(se3.rotation(), Eigen::Matrix3d::Identity());
92	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(se3.translation(), Eigen::Vector3d::Zero());
93		2	}
94
95	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_skew) {
96	✓✗	2	Eigen::Vector3d v;
97	✓✗✓✗ ✓✗	2	v << 2, 3, 4;
98	✓✗	2	Eigen::Matrix3d skew_mat;
99	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	skew_mat << 0, -4, 3, 4, 0, -2, -3, 2, 0;
100	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_EQUAL(pinocchio::skew(v), skew_mat);
101		2	}
102
103			BOOST_AUTO_TEST_SUITE_END()