GCC Code Coverage Report

Directory: ./
File: tests/test-bezier-symbolic.cpp
Date: 2025-05-18 04:15:09
Exec Total Coverage
Lines: 154 154 100.0%
Functions: 21 21 100.0%
Branches: 445 868 51.3%
Line Branch Exec Source
1 //
2 // Copyright (c) 2018 CNRS
3 // Authors: Pierre Fernbach
4 //
5 // This file is part of bezier_COM_traj
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-core is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18
19 #define BOOST_TEST_MODULE transition
20 #include <ndcurves/bezier_curve.h>
21
22 #include <boost/test/included/unit_test.hpp>
23 #include <hpp/bezier-com-traj/common_solve_methods.hh>
24 #include <hpp/bezier-com-traj/data.hh>
25 #include <hpp/bezier-com-traj/solve.hh>
26 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
27
28 #include "test_helper.hh"
29
30 using namespace bezier_com_traj;
31 const double T = 1.5;
32
33 14 ProblemData buildPData(const centroidal_dynamics::EquilibriumAlgorithm algo =
34 centroidal_dynamics::EQUILIBRIUM_ALGORITHM_PP) {
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 14 ProblemData pData;
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 14 pData.c0_ = Vector3(0, 0.5, 5.);
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 14 pData.c1_ = Vector3(2, -0.5, 5.);
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 14 pData.dc0_ = Vector3::Zero();
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 14 pData.dc1_ = Vector3::Zero();
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 14 pData.ddc0_ = Vector3::Zero();
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 14 pData.ddc1_ = Vector3::Zero();
42 14 pData.constraints_.flag_ = INIT_POS | INIT_VEL | END_VEL | END_POS;
43
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 14 MatrixX3 normals(2, 3), positions(2, 3);
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 14 normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 14 positions.block<1, 3>(0, 0) = Vector3(0, 0.1, 0);
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 14 normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
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 14 positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0);
49 std::pair<MatrixX3, MatrixX3> contacts =
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 14 computeRectangularContacts(normals, positions, LX, LY);
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 14 pData.contacts_.push_back(new centroidal_dynamics::Equilibrium(
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 28 ComputeContactCone(contacts.first, contacts.second, algo)));
53
54 28 return pData;
55 14 }
56
57 6 std::vector<point_t> generate_wps() {
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 6 return computeConstantWaypoints(buildPData(), T);
59 }
60
61 6 bezier_wp_t::t_point_t generate_wps_symbolic() {
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 6 return computeConstantWaypointsSymbolic(buildPData(), T);
63 }
64
65 21762 VectorX eval(const waypoint_t& w, const point_t& x) {
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 21762 return w.first * x + w.second;
67 }
68
69 16143 void vectorEqual(const VectorX& a, const VectorX& b, const double EPS = 1e-14) {
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 16143 BOOST_CHECK_EQUAL(a.size(), b.size());
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 16143 BOOST_CHECK((a - b).norm() < EPS);
72 16143 }
73
74 BOOST_AUTO_TEST_SUITE(symbolic)
75
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 4 BOOST_AUTO_TEST_CASE(symbolic_eval_c) {
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 2 std::vector<point_t> pts = generate_wps();
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 2 bezier_wp_t::t_point_t wps = generate_wps_symbolic();
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 2 point_t y(1, 0.2, 4.5);
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 2 pts[2] = y;
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 2 bezier_t c(pts.begin(), pts.end(), 0., T);
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 2 bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
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85 2 double t = 0.;
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 302 while (t < T) {
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 300 vectorEqual(c(t), eval(c_sym(t), y));
88 300 t += 0.01;
89 }
90 2 }
91
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 4 BOOST_AUTO_TEST_CASE(symbolic_eval_dc) {
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 2 std::vector<point_t> pts = generate_wps();
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 2 bezier_wp_t::t_point_t wps = generate_wps_symbolic();
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 2 point_t y(1, 0.2, 4.5);
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 2 pts[2] = y;
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 2 bezier_t c(pts.begin(), pts.end(), 0., T);
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 2 bezier_t dc = c.compute_derivate(1);
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 2 bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
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 2 bezier_wp_t dc_sym = c_sym.compute_derivate(1);
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103 2 double t = 0.;
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 300 vectorEqual(dc(t), eval(dc_sym(t), y));
106 300 t += 0.01;
107 }
108 2 }
109
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 4 BOOST_AUTO_TEST_CASE(symbolic_eval_ddc) {
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 2 bezier_wp_t::t_point_t wps = generate_wps_symbolic();
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 2 point_t y(1, 0.2, 4.5);
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 2 pts[2] = y;
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 2 bezier_t c(pts.begin(), pts.end(), 0., T);
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 2 bezier_t ddc = c.compute_derivate(2);
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 2 bezier_wp_t ddc_sym = c_sym.compute_derivate(2);
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121 2 double t = 0.;
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 302 while (t < T) {
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 300 vectorEqual(ddc(t), eval(ddc_sym(t), y), 1e-10);
124 300 t += 0.01;
125 }
126 2 }
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 4 BOOST_AUTO_TEST_CASE(symbolic_eval_jc) {
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 2 bezier_wp_t::t_point_t wps = generate_wps_symbolic();
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 2 pts[2] = y;
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 2 bezier_t c(pts.begin(), pts.end(), 0., T);
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 2 bezier_t jc = c.compute_derivate(3);
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 2 bezier_wp_t jc_sym = c_sym.compute_derivate(3);
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139 2 double t = 0.;
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 302 while (t < T) {
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 300 vectorEqual(jc(t), eval(jc_sym(t), y), 1e-10);
142 300 t += 0.01;
143 }
144 2 }
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 4 BOOST_AUTO_TEST_CASE(symbolic_split_c) {
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 2 std::vector<point_t> pts = generate_wps();
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 2 bezier_wp_t::t_point_t wps = generate_wps_symbolic();
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 2 point_t y(1, 0.2, 4.5);
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 2 pts[2] = y;
151
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 2 bezier_t c(pts.begin(), pts.end(), 0., T);
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 2 bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
154
155 double a, b, t, t1, t2;
156
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 202 for (size_t i = 0; i < 100; ++i) {
157 200 a = (rand() / (double)RAND_MAX) * T;
158 200 b = (rand() / (double)RAND_MAX) * T;
159 200 t1 = std::min(a, b);
160 200 t2 = std::max(a, b);
161 // std::cout<<"try extract between : ["<<t1<<";"<<t2<<"] "<<std::endl;
162
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 200 bezier_t c_e = c.extract(t1, t2);
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 200 bezier_wp_t c_sym_e = c_sym.extract(t1, t2);
164 200 t = t1;
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 10124 while (t < t2) {
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 9924 vectorEqual(c_e(t), eval(c_sym_e(t), y));
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 9924 vectorEqual(c(t), eval(c_sym_e(t), y));
168 9924 t += 0.01;
169 }
170 200 }
171 2 }
172
173
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 4 BOOST_AUTO_TEST_CASE(symbolic_split_c_bench) {
174 using namespace std;
175
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 2 std::vector<point_t> pts = generate_wps();
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180
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 2 bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
182
183 2 std::vector<double> values;
184
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 200002 for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
185
186 clock_t s0, e0;
187
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 2 std::pair<bezier_wp_t, bezier_wp_t> splitted = c_sym.split(0.5);
188 2 s0 = clock();
189 2 for (std::vector<double>::const_iterator cit = values.begin();
190
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 200002 cit != values.end(); ++cit) {
191
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 200000 splitted = c_sym.split(*cit);
192 }
193 2 e0 = clock();
194
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 2 std::cout << "Time required to split a c curve : "
196
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197
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198 2 }
199
200
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 4 BOOST_AUTO_TEST_CASE(symbolic_split_w) {
201
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 2 bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
202
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203
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205
206 double a, b, t, t1, t2;
207
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 202 for (size_t i = 0; i < 100; ++i) {
208 200 a = (rand() / (double)RAND_MAX) * T;
209 200 b = (rand() / (double)RAND_MAX) * T;
210 200 t1 = std::min(a, b);
211 200 t2 = std::max(a, b);
212 // std::cout<<"try extract between : ["<<t1<<";"<<t2<<"] "<<std::endl;
213
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 200 bezier_wp_t w_e = w.extract(t1, t2);
214 200 t = t1;
215
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216
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 11238 vectorEqual(eval(w(t), y), eval(w_e(t), y), 1e-12);
217 11238 t += 0.01;
218 }
219 200 }
220 2 }
221
222
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 4 BOOST_AUTO_TEST_CASE(symbolic_split_w_bench) {
223
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 2 bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
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225
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227
228 2 std::vector<double> values;
229
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 200002 for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
230
231 clock_t s0, e0;
232
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 2 std::pair<bezier_wp_t, bezier_wp_t> splitted = w.split(0.5);
233 2 s0 = clock();
234 2 for (std::vector<double>::const_iterator cit = values.begin();
235
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 200002 cit != values.end(); ++cit) {
236
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237 }
238 2 e0 = clock();
239
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 2 std::cout << "Time required to split a w curve : "
241
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 2 << ((double)(e0 - s0) / CLOCKS_PER_SEC) / 100. << " ms "
242
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 2 << std::endl;
243 2 }
244
245 BOOST_AUTO_TEST_SUITE_END()
246