GCC Code Coverage Report

Directory:	./
File:	tests/svd.cc
Date:	2025-05-05 12:19:30

	Exec	Total	Coverage
Lines:	39	39	100.0%
Branches:	148	294	50.3%

Line	Branch	Exec	Source
1			// Copyright (c) 2015, 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 EIGEN_RUNTIME_NO_MALLOC
30			#define BOOST_TEST_MODULE EIGEN_SVD_FEATURE
31			#include <Eigen/Dense>
32			#include <boost/test/included/unit_test.hpp>
33			#include <hpp/constraints/svd.hh>
34
35			using hpp::constraints::matrix_t;
36			using hpp::constraints::projectorOnKernel;
37			using hpp::constraints::projectorOnKernelOfInv;
38			using hpp::constraints::projectorOnSpan;
39			using hpp::constraints::projectorOnSpanOfInv;
40			using hpp::constraints::pseudoInverse;
41			using hpp::constraints::value_type;
42
43			template <bool computeFullU, bool computeFullV>
44		8	void test() {
45		8	const std::size_t rows = 4, cols = 6;
46		8	const value_type tol = 1e-6;
47			typedef Eigen::JacobiSVD<matrix_t> SVD;
48		8	int computationFlags =
49			(computeFullU ? Eigen::ComputeFullU : Eigen::ComputeThinU) \|
50			(computeFullV ? Eigen::ComputeFullV : Eigen::ComputeThinV);
51	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	SVD svd(rows, cols, computationFlags);
52	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	svd.setThreshold(tol);
53	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	matrix_t Mpinv(cols, rows);
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55	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	matrix_t M = matrix_t::Random(rows, cols);
56	1/2 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken.	8000	matrix_t PK(cols, cols);
57	1/2 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken.	8000	matrix_t PS(cols, cols);
58	1/2 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken.	8000	matrix_t PKinv(rows, rows);
59	1/2 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken.	8000	matrix_t PSinv(rows, rows);
60
61	1/2 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken.	8000	svd.compute(M);
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63			(svd.matrixV().adjoint() * svd.matrixV() -
64			matrix_t::Identity(svd.matrixV().cols(), svd.matrixV().cols()))
65			.isZero(),
66			svd.matrixV().adjoint() * svd.matrixV() -
67			matrix_t::Identity(svd.matrixV().cols(), svd.matrixV().cols()));
68
69	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	pseudoInverse<SVD>(svd, Mpinv);
70
71			// TODO There is a multiplication in between two Eigen matrices.
72			// I think this is a bug in Eigen.
73			// Eigen::internal::set_is_malloc_allowed(false);
74
75	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	projectorOnKernel<SVD>(svd, PK, computeFullV);
76	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	projectorOnSpan<SVD>(svd, PS);
77	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	projectorOnKernelOfInv<SVD>(svd, PKinv, computeFullU);
78	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	projectorOnSpanOfInv<SVD>(svd, PSinv);
79
80			// Eigen::internal::set_is_malloc_allowed(true);
81
82			// This removes a false warning about the conversion sequence used to find the
83			// proper operator* between matrix_t
84			#pragma GCC diagnostic ignored "-Wconversion"
85	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	matrix_t Ir = M * Mpinv;
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88	2/4 ✓ Branch 1 taken 4000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4000 times. ✗ Branch 5 not taken.	8000	matrix_t _Mpinv = Mpinv * Ir;
89			#pragma GCC diagnostic pop
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99			"PS + PK = I failed");
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101			(PSinv + PKinv).isApprox(matrix_t::Identity(rows, rows)),
102			"PSinv + PKinv = I failed");
103			}
104		8	}
105
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107		2	test<false, false>();
108		2	test<true, false>();
109		2	test<true, true>();
110		2	test<false, true>();
111		2	}
112

1

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 EIGEN_RUNTIME_NO_MALLOC

30

#define BOOST_TEST_MODULE EIGEN_SVD_FEATURE

31

#include <Eigen/Dense>

32

#include <boost/test/included/unit_test.hpp>

33

#include <hpp/constraints/svd.hh>

34

35

using hpp::constraints::matrix_t;

36

using hpp::constraints::projectorOnKernel;

37

using hpp::constraints::projectorOnKernelOfInv;

38

using hpp::constraints::projectorOnSpan;

39

using hpp::constraints::projectorOnSpanOfInv;

40

using hpp::constraints::pseudoInverse;

41

using hpp::constraints::value_type;

42

43

template <bool computeFullU, bool computeFullV>

44

8

void test() {

45

8

const std::size_t rows = 4, cols = 6;

46

8

const value_type tol = 1e-6;

47

typedef Eigen::JacobiSVD<matrix_t> SVD;

48

8

int computationFlags =

49

(computeFullU ? Eigen::ComputeFullU : Eigen::ComputeThinU) |

50

(computeFullV ? Eigen::ComputeFullV : Eigen::ComputeThinV);

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SVD svd(rows, cols, computationFlags);

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svd.setThreshold(tol);

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matrix_t Mpinv(cols, rows);

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for (int i = 0; i < 1000; ++i) {

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matrix_t M = matrix_t::Random(rows, cols);

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matrix_t PK(cols, cols);

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matrix_t PS(cols, cols);

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matrix_t PKinv(rows, rows);

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matrix_t PSinv(rows, rows);

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svd.compute(M);

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BOOST_CHECK_MESSAGE(

63

(svd.matrixV().adjoint() * svd.matrixV() -

64

matrix_t::Identity(svd.matrixV().cols(), svd.matrixV().cols()))

65

.isZero(),

66

svd.matrixV().adjoint() * svd.matrixV() -

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matrix_t::Identity(svd.matrixV().cols(), svd.matrixV().cols()));

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pseudoInverse<SVD>(svd, Mpinv);

70

71

// TODO There is a multiplication in between two Eigen matrices.

72

// I think this is a bug in Eigen.

73

// Eigen::internal::set_is_malloc_allowed(false);

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projectorOnKernel<SVD>(svd, PK, computeFullV);

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projectorOnSpan<SVD>(svd, PS);

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projectorOnKernelOfInv<SVD>(svd, PKinv, computeFullU);

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projectorOnSpanOfInv<SVD>(svd, PSinv);

79

80

// Eigen::internal::set_is_malloc_allowed(true);

81

82

// This removes a false warning about the conversion sequence used to find the

83

// proper operator* between matrix_t

84

#pragma GCC diagnostic ignored "-Wconversion"

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matrix_t Ir = M * Mpinv;

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matrix_t Ic = Mpinv * M;

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matrix_t _M = M * Ic;

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matrix_t _Mpinv = Mpinv * Ir;

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#pragma GCC diagnostic pop

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BOOST_CHECK_MESSAGE(_M.isApprox(M), "M = M * M+ * M failed");

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BOOST_CHECK_MESSAGE(_Mpinv.isApprox(Mpinv), "M+ = M+ * M * M+ failed");

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BOOST_CHECK_MESSAGE(Ir.adjoint().isApprox(Ir), "(M * M+)* = M * M+ failed");

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BOOST_CHECK_MESSAGE(Ic.adjoint().isApprox(Ic), "(M+ * M)* = M+ * M failed");

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BOOST_CHECK_MESSAGE(PS.isApprox(Ic), "PK = M+ * M failed");

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BOOST_CHECK_MESSAGE(PSinv.isApprox(Ir), "PKinv = M * M+ failed");

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BOOST_CHECK_MESSAGE((PS + PK).isApprox(matrix_t::Identity(cols, cols)),

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"PS + PK = I failed");

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BOOST_CHECK_MESSAGE(

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(PSinv + PKinv).isApprox(matrix_t::Identity(rows, rows)),

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"PSinv + PKinv = I failed");

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}

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}

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4

BOOST_AUTO_TEST_CASE(eigen_svd_features) {

107

2

test<false, false>();

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test<true, false>();

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test<true, true>();

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test<false, true>();

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2

}

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