GCC Code Coverage Report

Directory: ./
File: tests/test-transition-quasi-static.cpp
Date: 2025-05-18 04:15:09
Exec Total Coverage
Lines: 86 86 100.0%
Functions: 12 12 100.0%
Branches: 376 742 50.7%
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 - quasiStatic
20 #include <boost/test/included/unit_test.hpp>
21 #include <hpp/bezier-com-traj/common_solve_methods.hh>
22 #include <hpp/bezier-com-traj/solve.hh>
23 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
24
25 #include "test_helper.hh"
26
27 BOOST_AUTO_TEST_SUITE(quasiStatic)
28
29
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 4 BOOST_AUTO_TEST_CASE(single_support) {
30 // check if state valid with only one contact :
31
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 2 MatrixX3 normal(1, 3);
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 2 normal << 0, 0, 1;
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 2 MatrixX3 position(1, 3);
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 2 position << 0, 0, 0;
35 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 2 normal, position, Matrix3::Identity(), Vector3::Zero());
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 2 std::pair<Matrix3, Vector3> Hg = computeCost();
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 2 Vector3 init = Vector3::Zero();
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 2 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 2 BOOST_CHECK(res.success_);
41
42 // sample positions for second foot inside kinematics constraints and check
43 // for feasibility :
44 2 }
45
46
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 4 BOOST_AUTO_TEST_CASE(quasiStatic_exist) {
47 // sample positions for second foot inside kinematics constraints and check
48 // for feasibility : Vector3 firstLeg_n(0,0,1); Vector3 firstLeg_p(0,0,0);
49
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 1000 MatrixX3 normal(1, 3);
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 1000 MatrixX3 position(1, 3);
53 // normal.block<1,3>(0,0) = firstLeg_n;
54 // position.block<1,3>(0,0) = firstLeg_p;
55 1000 double x = fRandom(KIN_X_MIN, KIN_X_MAX);
56 1000 double y = fRandom(KIN_Y_MIN, KIN_Y_MAX);
57
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 1000 normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 1000 position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
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60 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 1000 normal, position, Matrix3::Identity(), Vector3::Zero());
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 1000 std::pair<Matrix3, Vector3> Hg = computeCost();
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 1000 Vector3 init = Vector3::Zero();
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 1000 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 1000 BOOST_CHECK(res.success_);
66 1000 }
67 2 }
68
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 4 BOOST_AUTO_TEST_CASE(quasiStatic_empty_upX) {
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 1000 MatrixX3 normal(1, 3);
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 1000 MatrixX3 position(1, 3);
73 // normal.block<1,3>(0,0) = firstLeg_n;
74 // position.block<1,3>(0,0) = firstLeg_p;
75 1000 double x = fRandom(KIN_X_MAX + (LX / 2.) + 0.001, 10);
76 1000 double y = fRandom(KIN_Y_MIN, KIN_Y_MAX);
77
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 1000 normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 1000 position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
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80 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 1000 normal, position, Matrix3::Identity(), Vector3::Zero());
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 1000 std::pair<Matrix3, Vector3> Hg = computeCost();
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 1000 Vector3 init = Vector3::Zero();
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 1000 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 1000 BOOST_CHECK(!res.success_);
86 1000 }
87 2 }
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 4 BOOST_AUTO_TEST_CASE(quasiStatic_empty_downX) {
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 1000 MatrixX3 normal(1, 3);
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 1000 MatrixX3 position(1, 3);
93 // normal.block<1,3>(0,0) = firstLeg_n;
94 // position.block<1,3>(0,0) = firstLeg_p;
95 1000 double x = fRandom(-10, KIN_X_MIN - (LX / 2.) - 0.001);
96 1000 double y = fRandom(KIN_Y_MIN, KIN_Y_MAX);
97
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 1000 normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 1000 position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
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100 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 1000 normal, position, Matrix3::Identity(), Vector3::Zero());
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 1000 std::pair<Matrix3, Vector3> Hg = computeCost();
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 1000 Vector3 init = Vector3::Zero();
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 1000 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 1000 BOOST_CHECK(!res.success_);
106 1000 }
107 2 }
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 4 BOOST_AUTO_TEST_CASE(quasiStatic_empty_downY) {
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 1000 MatrixX3 normal(1, 3);
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 1000 MatrixX3 position(1, 3);
113 // normal.block<1,3>(0,0) = firstLeg_n;
114 // position.block<1,3>(0,0) = firstLeg_p;
115 1000 double x = fRandom(KIN_X_MIN, KIN_X_MAX);
116 1000 double y = fRandom(-10, KIN_Y_MIN - (LY / 2.) - 0.001);
117
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 1000 normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 1000 position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
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120 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 1000 normal, position, Matrix3::Identity(), Vector3::Zero());
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 1000 std::pair<Matrix3, Vector3> Hg = computeCost();
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 1000 Vector3 init = Vector3::Zero();
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 1000 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 1000 BOOST_CHECK(!res.success_);
126 1000 }
127 2 }
128
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 4 BOOST_AUTO_TEST_CASE(quasiStatic_empty_upY) {
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 1002 for (size_t i = 0; i < 500; ++i) {
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 1000 MatrixX3 normal(1, 3);
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 1000 MatrixX3 position(1, 3);
133 // normal.block<1,3>(0,0) = firstLeg_n;
134 // position.block<1,3>(0,0) = firstLeg_p;
135 1000 double x = fRandom(KIN_X_MIN, KIN_X_MAX);
136 1000 double y = fRandom(KIN_Y_MAX + (LY / 2.) + 0.001, 10);
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 1000 normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
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 1000 position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
139
140 std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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 1000 normal, position, Matrix3::Identity(), Vector3::Zero());
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 1000 std::pair<Matrix3, Vector3> Hg = computeCost();
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 1000 Vector3 init = Vector3::Zero();
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 1000 bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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 1000 BOOST_CHECK(!res.success_);
146 1000 }
147 2 }
148
149 BOOST_AUTO_TEST_SUITE_END()
150