GCC Code Coverage Report

Directory:	./
File:	tests/test-transition-quasi-static.cpp
Date:	2025-04-18 04:07:36

	Exec	Total	Coverage
Lines:	86	86	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
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30			// check if state valid with only one contact :
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixX3 normal(1, 3);
32	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	normal << 0, 0, 1;
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixX3 position(1, 3);
34	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	position << 0, 0, 0;
35			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
36	7/14 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken.	4	normal, position, Matrix3::Identity(), Vector3::Zero());
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::pair<Matrix3, Vector3> Hg = computeCost();
38	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 init = Vector3::Zero();
39	4/8 ✓ 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. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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41
42			// sample positions for second foot inside kinematics constraints and check
43			// for feasibility :
44		2	}
45
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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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51	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	MatrixX3 normal(1, 3);
52	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	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	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
58	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
59
60			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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62	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	std::pair<Matrix3, Vector3> Hg = computeCost();
63	2/4 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken.	1000	Vector3 init = Vector3::Zero();
64	4/8 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 500 times. ✗ Branch 11 not taken.	2000	bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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66		1000	}
67		2	}
68
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70	2/2 ✓ Branch 0 taken 500 times. ✓ Branch 1 taken 1 times.	1002	for (size_t i = 0; i < 500; ++i) {
71	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	MatrixX3 normal(1, 3);
72	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	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	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
78	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
79
80			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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82	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	std::pair<Matrix3, Vector3> Hg = computeCost();
83	2/4 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken.	1000	Vector3 init = Vector3::Zero();
84	4/8 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 500 times. ✗ Branch 11 not taken.	2000	bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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86		1000	}
87		2	}
88
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90	2/2 ✓ Branch 0 taken 500 times. ✓ Branch 1 taken 1 times.	1002	for (size_t i = 0; i < 500; ++i) {
91	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	MatrixX3 normal(1, 3);
92	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	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	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
98	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
99
100			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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102	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	std::pair<Matrix3, Vector3> Hg = computeCost();
103	2/4 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken.	1000	Vector3 init = Vector3::Zero();
104	4/8 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 500 times. ✗ Branch 11 not taken.	2000	bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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106		1000	}
107		2	}
108
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111	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	MatrixX3 normal(1, 3);
112	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	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	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
118	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
119
120			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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122	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	std::pair<Matrix3, Vector3> Hg = computeCost();
123	2/4 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken.	1000	Vector3 init = Vector3::Zero();
124	4/8 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 500 times. ✗ Branch 11 not taken.	2000	bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init);
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126		1000	}
127		2	}
128
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130	2/2 ✓ Branch 0 taken 500 times. ✓ Branch 1 taken 1 times.	1002	for (size_t i = 0; i < 500; ++i) {
131	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	MatrixX3 normal(1, 3);
132	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	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);
137	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	normal.block<1, 3>(0, 0) = Vector3(0, 0, 1);
138	3/6 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 500 times. ✗ Branch 8 not taken.	1000	position.block<1, 3>(0, 0) = Vector3(x, y, 0.);
139
140			std::pair<MatrixX3, VectorX> Ab = generateConstraints(
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142	1/2 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken.	1000	std::pair<Matrix3, Vector3> Hg = computeCost();
143	2/4 ✓ Branch 1 taken 500 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 500 times. ✗ Branch 5 not taken.	1000	Vector3 init = Vector3::Zero();
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146		1000	}
147		2	}
148
149			BOOST_AUTO_TEST_SUITE_END()
150