GCC Code Coverage Report

Directory: ./
File: tests/paths.cc
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 73 79 92.4%
Branches: 243 490 49.6%
Line Branch Exec Source
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 paths
30 #include <boost/mpl/list.hpp>
31 #include <boost/test/included/unit_test.hpp>
32 #include <pinocchio/fwd.hpp>
33
34 // Boost version 1.54
35 // Cannot include boost CPU timers
36 // #include <boost/timer/timer.hpp>
37 // because the original timers are already included by
38 // the unit test framework
39 // #include <boost/timer.hh>
40
41 #include <hpp/core/problem.hh>
42 #include <hpp/core/straight-path.hh>
43 #include <hpp/core/subchain-path.hh>
44 #include <hpp/pinocchio/configuration.hh>
45 #include <hpp/pinocchio/device.hh>
46 #include <hpp/pinocchio/joint.hh>
47 #include <hpp/pinocchio/urdf/util.hh>
48
49 #define TOSTR(x) \
50 static_cast<std::ostringstream&>((std::ostringstream() << x)).str()
51
52 using namespace hpp::core;
53 using namespace hpp::pinocchio;
54
55 1 DevicePtr_t createRobot() {
56 std::string urdf(
57 "<robot name='test'>"
58 "<link name='link0'/>"
59 "<joint name='joint0' type='prismatic'>"
60 "<parent link='link0'/>"
61 "<child link='link1'/>"
62 "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
63 "</joint>"
64 "<link name='link1'/>"
65
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 1 "</robot>");
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 2 DevicePtr_t robot = Device::create("test");
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 1 urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
69 2 return robot;
70 1 }
71
72 1 DevicePtr_t createRobot2() {
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 1 std::ostringstream oss;
74 oss << "<robot name='test'>"
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 1 << "<link name='link0'/>";
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 11 for (int i = 0; i < 10; ++i) {
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 10 oss << "<joint name='joint" << i << "' type='prismatic'>"
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 10 << "<parent link='link" << i << "'/>"
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 10 << "<child link='link" << i + 1 << "'/>"
80 << "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
81 << "</joint>"
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 10 << "<link name='link" << i + 1 << "'/>";
83 }
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 1 oss << "</robot>";
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 1 std::string urdf(oss.str());
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 2 DevicePtr_t robot = Device::create("test");
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 1 urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
89 2 return robot;
90 1 }
91
92 typedef std::pair<value_type, value_type> Pair_t;
93
94 ✗ std::ostream& operator<<(std::ostream& os, const Pair_t& p) {
95 ✗ os << "Pair " << p.first << ", " << p.second;
96 ✗ return os;
97 }
98
99 ✗ void printAt(const PathPtr_t& p, ConfigurationOut_t q, value_type t) {
100 ✗ p->eval(q, t);
101 ✗ std::cout << t << ":\t" << q.transpose() << std::endl;
102 }
103 8 void checkAt(const PathPtr_t orig, value_type to, const PathPtr_t extr,
104 value_type te) {
105
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 8 Configuration_t q1(orig->outputSize()), q2(orig->outputSize());
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 8 orig->eval(q1, to);
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 8 extr->eval(q2, te);
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 8 BOOST_CHECK_MESSAGE(q2.isApprox(q1),
109 "Extracted path is wrong."
110 "\nExpected: "
111 << q1.transpose()
112 << "\nGot : " << q2.transpose());
113 8 }
114
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 4 BOOST_AUTO_TEST_CASE(extracted) {
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 2 DevicePtr_t dev = createRobot();
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 2 BOOST_REQUIRE(dev);
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 2 ProblemPtr_t problem = Problem::create(dev);
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 2 Configuration_t q1(dev->configSize());
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 2 q1 << 0;
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 2 Configuration_t q2(dev->configSize());
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 2 q2 << 1;
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 4 PathPtr_t p1 = (*problem->steeringMethod())(q1, q2), p2;
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 2 p2 = p1->extract(Pair_t(0.5, 1));
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 2 checkAt(p1, 0.5, p2, 0.0);
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 2 checkAt(p1, 1.0, p2, 0.5);
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 2 p2 = p1->extract(Pair_t(1, 0.5));
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 2 checkAt(p1, 1.0, p2, 0.0);
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 2 checkAt(p1, 0.5, p2, 0.5);
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 2 p2 = p2->extract(Pair_t(0, 0.25));
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 2 checkAt(p1, 1.0, p2, 0.0);
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 2 checkAt(p1, .75, p2, .25);
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 2 p2 = p1->extract(Pair_t(1, 0.5));
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 2 p2 = p2->extract(Pair_t(0.25, 0));
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 2 checkAt(p1, .75, p2, 0.0);
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 2 checkAt(p1, 1.0, p2, .25);
142 2 }
143
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 4 BOOST_AUTO_TEST_CASE(subchain) {
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 2 DevicePtr_t dev = createRobot2(); // 10 translations
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 2 BOOST_REQUIRE(dev);
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 2 ProblemPtr_t problem = Problem::create(dev);
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149 2 segments_t intervals;
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 2 intervals.push_back(segment_t(0, 3));
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 2 intervals.push_back(segment_t(6, 3));
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 2 Configuration_t q1(Configuration_t::Zero(dev->configSize()));
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 2 Configuration_t q2(Configuration_t::Ones(dev->configSize()));
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 2 q2.tail<5>().setConstant(-1);
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 4 PathPtr_t p1 = (*problem->steeringMethod())(q1, q2), p2;
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 2 p2 = SubchainPath::create(p1, intervals, intervals);
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 2 BOOST_CHECK(p2->outputSize() == 6);
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 2 Configuration_t q(p2->outputSize());
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 2 p2->eval(q, 0);
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 2 BOOST_CHECK(q.head<3>().isZero());
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 2 BOOST_CHECK(q.tail<3>().isZero());
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 2 p2->eval(q, p1->length());
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 2 BOOST_CHECK(q.head<3>().isApprox(Configuration_t::Ones(3)));
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 2 BOOST_CHECK(q.tail<3>().isApprox(-Configuration_t::Ones(3)));
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 2 p2->eval(q, p1->length() * 0.5);
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 2 BOOST_CHECK(q.head<3>().isApprox(Configuration_t::Ones(3) * 0.5));
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 2 BOOST_CHECK(q.tail<3>().isApprox(-Configuration_t::Ones(3) * 0.5));
173 2 }
174