GCC Code Coverage Report

Directory:	./
File:	tests/configuration-shooters.cc
Date:	2025-03-10 11:18:21

	Exec	Total	Coverage
Lines:	44	44	100.0%
Branches:	175	344	50.9%

Line	Branch	Exec	Source
1			// Copyright (c) 2018, 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 configuration_shooters
30			#include <boost/test/included/unit_test.hpp>
31			#include <hpp/core/configuration-shooter/gaussian.hh>
32			#include <hpp/core/configuration-shooter/uniform-tpl.hh>
33			#include <hpp/core/configuration-shooter/uniform.hh>
34			#include <hpp/pinocchio/configuration.hh>
35			#include <hpp/pinocchio/device.hh>
36			#include <hpp/pinocchio/simple-device.hh>
37			#include <hpp/pinocchio/urdf/util.hh>
38			#include <pinocchio/fwd.hpp>
39			#include <pinocchio/multibody/model.hpp>
40
41			using hpp::pinocchio::DevicePtr_t;
42
43			using namespace hpp::core::configurationShooter;
44
45			namespace pin_test = hpp::pinocchio::unittest;
46
47		1	hpp::pinocchio::DevicePtr_t makeDevice() {
48			using namespace hpp::pinocchio;
49
50	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	DevicePtr_t device = Device::create("test");
51	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	1	urdf::loadModelFromString(device, 0, "", "prismatic_x",
52			"<robot name='n'><link name='base_link'/></robot>",
53			"");
54
55		1	return device;
56			}
57
58			template <typename CS_t>
59		6	void basic_test(CS_t cs, DevicePtr_t robot) {
60	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	hpp::core::Configuration_t q;
61	2/2 ✓ Branch 1 taken 30 times. ✓ Branch 2 taken 3 times.	66	for (int i = 0; i < 10; ++i) {
62	1/2 ✓ Branch 2 taken 30 times. ✗ Branch 3 not taken.	60	cs->shoot(q);
63	2/4 ✓ Branch 2 taken 30 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 30 times. ✗ Branch 6 not taken.	60	hpp::pinocchio::ArrayXb unused(robot->numberDof());
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65			}
66		6	}
67
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69	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = pin_test::makeDevice(pin_test::HumanoidSimple);
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	UniformPtr_t cs = Uniform::create(robot);
71
72	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	basic_test(cs, robot);
73		2	}
74
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76	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = pin_test::makeDevice(pin_test::HumanoidSimple);
77
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GaussianPtr_t cs = Gaussian::create(robot);
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80	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	basic_test(cs, robot);
81
82	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	cs->sigma(0);
83
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::core::Configuration_t q;
85	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	cs->shoot(q);
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87		2	}
88
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90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t robot = makeDevice();
91
92	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->model().lowerPositionLimit[0] = -1.0;
93	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->model().upperPositionLimit[0] = 1.0;
94
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	UniformSeedable::Ptr_t shooter = UniformSeedable::create(robot);
96	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	basic_test(shooter, robot);
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::core::Configuration_t q;
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::core::vector_t shoots(100);
101
102	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	shooter->seed(0);
103	2/2 ✓ Branch 1 taken 100 times. ✓ Branch 2 taken 1 times.	202	for (int i = 0; i < shoots.size(); ++i) {
104	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	shooter->shoot(q);
105	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	shoots[i] = q[0];
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108			}
109
110			// Check that setting the seed gives the same sequence of random values.
111	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	shooter->seed(0);
112	2/2 ✓ Branch 1 taken 100 times. ✓ Branch 2 taken 1 times.	202	for (int i = 0; i < shoots.size(); ++i) {
113	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	shooter->shoot(q);
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115			}
116		2	}
117