GCC Code Coverage Report

Directory: ./
File: tests/comparison-types.cc
Date: 2025-05-05 12:19:30
Exec Total Coverage
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1 // Copyright (c) 2020, CNRS - Airbus SAS
2 // Authors: Florent Lamiraux
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #include <hpp/constraints/affine-function.hh>
30 #include <hpp/constraints/implicit.hh>
31 #include <hpp/pinocchio/liegroup-space.hh>
32
33 #define BOOST_TEST_MODULE ComparisonTypes
34 #include <boost/test/included/unit_test.hpp>
35
36 using hpp::constraints::ComparisonType;
37 using hpp::constraints::ComparisonTypes_t;
38 using hpp::constraints::DifferentiableFunctionPtr_t;
39 using hpp::constraints::Equality;
40 using hpp::constraints::EqualToZero;
41 using hpp::constraints::Identity;
42 using hpp::constraints::Implicit;
43 using hpp::constraints::ImplicitPtr_t;
44 using hpp::constraints::Inferior;
45 using hpp::constraints::Superior;
46 using hpp::pinocchio::LiegroupSpace;
47
48
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 4 BOOST_AUTO_TEST_CASE(operators)
49 // int main()
50 {
51 // [Inferior]
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 2 ComparisonTypes_t expected, actual(1, Inferior);
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 2 expected.push_back(Inferior);
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 2 BOOST_CHECK_EQUAL(expected, actual);
55 // [Equality, EqualToZero]
56 2 expected.clear();
57 2 actual.clear();
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 2 expected.push_back(Equality);
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 2 expected.push_back(EqualToZero);
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 2 actual = ComparisonTypes_t(Equality << EqualToZero);
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 2 BOOST_CHECK_EQUAL(expected, actual);
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 2 BOOST_CHECK_EQUAL(expected, Equality << EqualToZero);
63
64 // [Equality, EqualToZero, Inferior]
65 2 expected.clear();
66 2 actual.clear();
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 2 expected.push_back(Equality);
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 2 expected.push_back(EqualToZero);
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 2 expected.push_back(Inferior);
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 2 actual = (Equality << EqualToZero << Inferior);
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 2 BOOST_CHECK_EQUAL(expected, actual);
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 2 BOOST_CHECK_EQUAL(expected, Equality << EqualToZero << Inferior);
73
74 // [Equality, EqualToZero, 4 * Inferior]
75 2 expected.clear();
76 2 actual.clear();
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 2 expected.push_back(Equality);
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 2 expected.push_back(Inferior);
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 2 actual = (Equality << EqualToZero << 4 * Inferior);
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 2 BOOST_CHECK_EQUAL(expected, actual);
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 2 BOOST_CHECK_EQUAL(expected, Equality << EqualToZero << 4 * Inferior);
87 // [EqualToZero, EqualToZero, EqualToZero, EqualToZero, EqualToZero,
88 // Equality, Equality, Equality] -> ConvexShapeContact
89 2 expected.clear();
90 2 actual.clear();
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 2 expected.push_back(EqualToZero);
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 4 actual = (EqualToZero << EqualToZero << EqualToZero << EqualToZero
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 2 << EqualToZero << Equality << Equality << Equality);
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 2 BOOST_CHECK_EQUAL(expected, actual);
103 ImplicitPtr_t constraint(Implicit::create(
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 4 Identity::create(LiegroupSpace::Rn(8), "I8"),
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 4 EqualToZero << EqualToZero << EqualToZero << EqualToZero << EqualToZero
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 12 << Equality << Equality << Equality));
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 2 BOOST_CHECK_EQUAL(expected, constraint->comparisonType());
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 6 actual = ComparisonTypes_t(EqualToZero << EqualToZero << EqualToZero
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 4 << EqualToZero << EqualToZero
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 4 << Equality << Equality << Equality);
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 2 BOOST_CHECK_EQUAL(expected, actual);
112 2 }
113