GCC Code Coverage Report

Directory:	./
File:	tests/test-bezier-symbolic.cpp
Date:	2025-03-18 04:20:50

	Exec	Total	Coverage
Lines:	154	154	100.0%
Branches:	440	856	51.4%

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) {
35	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	ProblemData pData;
36	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	pData.c0_ = Vector3(0, 0.5, 5.);
37	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	pData.c1_ = Vector3(2, -0.5, 5.);
38	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	pData.dc0_ = Vector3::Zero();
39	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	pData.dc1_ = Vector3::Zero();
40	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	pData.ddc0_ = Vector3::Zero();
41	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	pData.ddc1_ = Vector3::Zero();
42		14	pData.constraints_.flag_ = INIT_POS \| INIT_VEL \| END_VEL \| END_POS;
43
44	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	MatrixX3 normals(2, 3), positions(2, 3);
45	3/6 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken.	14	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
46	3/6 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken.	14	positions.block<1, 3>(0, 0) = Vector3(0, 0.1, 0);
47	3/6 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken.	14	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
48	3/6 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken.	14	positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0);
49			std::pair<MatrixX3, MatrixX3> contacts =
50	3/6 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken.	28	computeRectangularContacts(normals, positions, LX, LY);
51	4/8 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 14 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 14 times. ✗ Branch 11 not taken.	28	pData.contacts_.push_back(new centroidal_dynamics::Equilibrium(
52	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	ComputeContactCone(contacts.first, contacts.second, algo)));
53
54		28	return pData;
55		14	}
56
57		6	std::vector<point_t> generate_wps() {
58	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	return computeConstantWaypoints(buildPData(), T);
59			}
60
61		6	bezier_wp_t::t_point_t generate_wps_symbolic() {
62	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	return computeConstantWaypointsSymbolic(buildPData(), T);
63			}
64
65		20638	VectorX eval(const waypoint_t& w, const point_t& x) {
66	2/4 ✓ Branch 2 taken 20638 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 20638 times. ✗ Branch 6 not taken.	41276	return w.first * x + w.second;
67			}
68
69		15907	void vectorEqual(const VectorX& a, const VectorX& b, const double EPS = 1e-14) {
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72		15907	}
73
74			BOOST_AUTO_TEST_SUITE(symbolic)
75
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77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
80	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
81
82	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_t c(pts.begin(), pts.end(), 0., T);
83	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
84
85		2	double t = 0.;
86	2/2 ✓ Branch 0 taken 150 times. ✓ Branch 1 taken 1 times.	302	while (t < T) {
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88		300	t += 0.01;
89			}
90		2	}
91
92	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(symbolic_eval_dc) {
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
96	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
97
98	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_t c(pts.begin(), pts.end(), 0., T);
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_t dc = c.compute_derivate(1);
100	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t dc_sym = c_sym.compute_derivate(1);
102
103		2	double t = 0.;
104	2/2 ✓ Branch 0 taken 150 times. ✓ Branch 1 taken 1 times.	302	while (t < T) {
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106		300	t += 0.01;
107			}
108		2	}
109
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111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
114	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
115
116	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_t c(pts.begin(), pts.end(), 0., T);
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_t ddc = c.compute_derivate(2);
118	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t ddc_sym = c_sym.compute_derivate(2);
120
121		2	double t = 0.;
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124		300	t += 0.01;
125			}
126		2	}
127
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129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
132	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
133
134	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_t c(pts.begin(), pts.end(), 0., T);
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_t jc = c.compute_derivate(3);
136	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t jc_sym = c_sym.compute_derivate(3);
138
139		2	double t = 0.;
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142		300	t += 0.01;
143			}
144		2	}
145
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147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
150	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
151
152	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_t c(pts.begin(), pts.end(), 0., T);
153	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
154
155			double a, b, t, t1, t2;
156	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	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	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	bezier_t c_e = c.extract(t1, t2);
163	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	bezier_wp_t c_sym_e = c_sym.extract(t1, t2);
164		200	t = t1;
165	2/2 ✓ Branch 0 taken 5288 times. ✓ Branch 1 taken 100 times.	10776	while (t < t2) {
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168		10576	t += 0.01;
169			}
170		200	}
171		2	}
172
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174			using namespace std;
175
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<point_t> pts = generate_wps();
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_wp_t::t_point_t wps = generate_wps_symbolic();
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
179	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pts[2] = y;
180
181	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
182
183		2	std::vector<double> values;
184	3/4 ✓ Branch 2 taken 100000 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 100000 times. ✓ Branch 5 taken 1 times.	200002	for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
185
186			clock_t s0, e0;
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	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	2/2 ✓ Branch 2 taken 100000 times. ✓ Branch 3 taken 1 times.	200002	cit != values.end(); ++cit) {
191	2/4 ✓ Branch 2 taken 100000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100000 times. ✗ Branch 6 not taken.	200000	splitted = c_sym.split(*cit);
192			}
193		2	e0 = clock();
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Time required to split a c curve : "
196	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	<< ((double)(e0 - s0) / CLOCKS_PER_SEC) / 100. << " ms "
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl;
198		2	}
199
200	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(symbolic_split_w) {
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
203
204	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t w(wps.begin(), wps.end(), 0., T);
205
206			double a, b, t, t1, t2;
207	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	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	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	bezier_wp_t w_e = w.extract(t1, t2);
214		200	t = t1;
215	2/2 ✓ Branch 0 taken 4731 times. ✓ Branch 1 taken 100 times.	9662	while (t < t2) {
216	5/10 ✓ Branch 1 taken 4731 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4731 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4731 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4731 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4731 times. ✗ Branch 14 not taken.	9462	vectorEqual(eval(w(t), y), eval(w_e(t), y), 1e-12);
217		9462	t += 0.01;
218			}
219		200	}
220		2	}
221
222	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(symbolic_split_w_bench) {
223	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point_t y(1, 0.2, 4.5);
225
226	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	bezier_wp_t w(wps.begin(), wps.end(), 0., T);
227
228		2	std::vector<double> values;
229	3/4 ✓ Branch 2 taken 100000 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 100000 times. ✓ Branch 5 taken 1 times.	200002	for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
230
231			clock_t s0, e0;
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	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	2/2 ✓ Branch 2 taken 100000 times. ✓ Branch 3 taken 1 times.	200002	cit != values.end(); ++cit) {
236	2/4 ✓ Branch 2 taken 100000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100000 times. ✗ Branch 6 not taken.	200000	splitted = w.split(*cit);
237			}
238		2	e0 = clock();
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Time required to split a w curve : "
241	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	<< ((double)(e0 - s0) / CLOCKS_PER_SEC) / 100. << " ms "
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	<< std::endl;
243		2	}
244
245			BOOST_AUTO_TEST_SUITE_END()
246