GCC Code Coverage Report

Directory: ./
File: tests/multithread.cc
Date: 2025-05-05 12:19:30
Exec Total Coverage
Lines: 38 38 100.0%
Branches: 113 222 50.9%
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1 // Copyright (c) 2016, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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 #define BOOST_TEST_MODULE multithread_test
30
31 #include <stdlib.h>
32
33 #include <../tests/convex-shape-contact-function.hh>
34 #include <../tests/util.hh>
35 #include <hpp/constraints/configuration-constraint.hh>
36 #include <hpp/constraints/convex-shape-contact.hh>
37 #include <hpp/constraints/generic-transformation.hh>
38 #include <hpp/pinocchio/device.hh>
39 #include <hpp/pinocchio/simple-device.hh>
40 #include <pinocchio/fwd.hpp>
41
42 using hpp::pinocchio::Configuration_t;
43 using hpp::pinocchio::ConfigurationPtr_t;
44 using hpp::pinocchio::Device;
45 using hpp::pinocchio::DevicePtr_t;
46 using hpp::pinocchio::JointPtr_t;
47 using hpp::pinocchio::Transform3s;
48
49 using namespace hpp::constraints;
50
51
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 4 BOOST_AUTO_TEST_CASE(multithread) {
52 DevicePtr_t device = hpp::pinocchio::unittest::makeDevice(
53
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 4 hpp::pinocchio::unittest::HumanoidSimple);
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 2 device->numberDeviceData(4);
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 4 JointPtr_t ee1 = device->getJointByName("lleg5_joint"),
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 4 ee2 = device->getJointByName("rleg5_joint");
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 2 BOOST_REQUIRE(device);
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 2 Configuration_t q;
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 2 randomConfig(device, q);
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 2 device->currentConfiguration(q);
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 2 device->computeForwardKinematics(hpp::pinocchio::JOINT_POSITION);
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 2 Transform3s tf1(ee1->currentTransformation());
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 2 Transform3s tf2(ee2->currentTransformation());
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66 2 std::vector<DifferentiableFunctionPtr_t> functions;
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 4 functions.push_back(ConfigurationConstraint::create(
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 2 "Configuration", device, device->currentConfiguration()));
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 2 functions.push_back(Orientation::create("Orientation", device, ee2, tf2));
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 2 functions.push_back(Position::create("Position", device, ee2, tf2, tf1));
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 2 functions.push_back(
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 4 Transformation::create("Transformation", device, ee1, tf1));
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 2 functions.push_back(RelativeOrientation::create("RelativeOrientation", device,
74 ee1, ee2, tf1));
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 2 functions.push_back(
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 4 RelativePosition::create("RelativePosition", device, ee1, ee2, tf1, tf2));
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 2 functions.push_back(RelativeTransformation::create(
78 "RelativeTransformation", device, ee1, ee2, tf1, tf2));
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 2 functions.push_back(createConvexShapeContact_triangles(
80 device, ee1, "ConvexShapeContact triangle"));
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 2 functions.push_back(createConvexShapeContact_punctual(
82 device, ee1, "ConvexShapeContact punctual"));
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 2 functions.push_back(createConvexShapeContact_convex(
84 device, ee1, "ConvexShapeContact convex"));
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86 2 const int N = 100;
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 2 randomConfig(device, q);
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 22 for (std::size_t i = 0; i < functions.size(); ++i) {
89 20 DifferentiableFunctionPtr_t f = functions[i];
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 40 std::vector<LiegroupElement> vs(N, LiegroupElement(f->outputSpace()));
92 std::vector<matrix_t> Js(
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 40 N, matrix_t(f->outputDerivativeSize(), f->inputDerivativeSize()));
94 20 #pragma omp parallel for
95 for (int j = 0; j < N; ++j) {
96 f->value(vs[j], q);
97 f->jacobian(Js[j], q);
98 }
99
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 2000 for (int j = 1; j < N; ++j) {
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 1980 BOOST_CHECK_EQUAL(vs[0].vector(), vs[j].vector());
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 1980 BOOST_CHECK_EQUAL(Js[0], Js[j]);
103 }
104 20 }
105 2 }
106