GCC Code Coverage Report

Directory: ./
File: tests/problem.cc
Date: 2025-03-10 11:18:21
Exec Total Coverage
Lines: 100 100 100.0%
Branches: 337 688 49.0%
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1 // Copyright (c) 2017, 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 problem
30 #include <coal/collision_object.h>
31 #include <coal/shape/geometric_shapes.h>
32
33 #include <boost/test/included/unit_test.hpp>
34 #include <hpp/core/problem-solver.hh>
35 #include <hpp/core/problem.hh>
36 #include <hpp/core/roadmap.hh>
37 #include <hpp/pinocchio/joint.hh>
38 #include <hpp/pinocchio/simple-device.hh>
39 #include <hpp/pinocchio/urdf/util.hh>
40 #include <pinocchio/fwd.hpp>
41
42 using namespace hpp::core;
43 using namespace hpp::pinocchio;
44
45
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 4 BOOST_AUTO_TEST_CASE(memory_deallocation) {
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 2 ProblemSolverPtr_t ps = ProblemSolver::create();
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 2 ps->robot(unittest::makeDevice(unittest::ManipulatorArm2));
48
49 2 ProblemPtr_t problem = ps->problem();
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 2 DeviceWkPtr_t dev = ps->robot();
51 2 SteeringMethodWkPtr_t sm = problem->steeringMethod();
52 2 DistanceWkPtr_t distance = problem->distance();
53 2 RoadmapWkPtr_t roadmap = ps->roadmap();
54 2 problem.reset();
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 2 delete ps;
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 2 BOOST_CHECK_MESSAGE(!dev.lock(), "Device was not deleted");
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 2 BOOST_CHECK_MESSAGE(!sm.lock(), "Steering method was not deleted");
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 2 BOOST_CHECK_MESSAGE(!distance.lock(), "Distance was not deleted");
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 2 BOOST_CHECK_MESSAGE(!roadmap.lock(), "Roadmap was not deleted");
62 2 }
63
64 3 void pointMassProblem(const char* steeringMethod, const char* distance,
65 const char* pathValidation, value_type tolerance) {
66 3 const char* urdfString =
67 "<robot name='foo'><link name='base_link'>"
68 "<collision><geometry><sphere radius='0.01'/></geometry></collision>"
69 "</link></robot>";
70
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 3 ProblemSolverPtr_t ps = ProblemSolver::create();
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 3 ps->maxIterPathPlanning(50);
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 6 DevicePtr_t robot = Device::create("point");
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 3 urdf::loadModelFromString(robot, 0, "", "translation3d", urdfString, "");
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 3 BOOST_REQUIRE_EQUAL(robot->configSize(), 3);
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 3 robot->rootJoint()->lowerBound(0, -10);
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 3 robot->rootJoint()->lowerBound(1, -10);
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 3 robot->rootJoint()->lowerBound(2, -10);
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 3 robot->rootJoint()->upperBound(0, 10);
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 3 robot->rootJoint()->upperBound(1, 10);
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 3 robot->rootJoint()->upperBound(2, 10);
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 3 ps->robot(robot);
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 3 ps->pathValidationType(pathValidation, tolerance);
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 3 ps->steeringMethodType(steeringMethod);
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 3 ps->distanceType(distance);
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 3 CollisionGeometryPtr_t boxGeom(new coal::Box(0.3, 0.3, 0.3));
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 3 SE3 boxTf(matrix3_t::Identity(), vector3_t(-2, 0, 0));
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 3 ps->addObstacle("box", boxGeom, boxTf, true, true);
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 3 Configuration_t qinit(robot->neutralConfiguration());
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 3 Configuration_t qgoal(robot->neutralConfiguration());
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 3 qgoal << -4, 0, 0;
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 3 ps->initConfig(qinit);
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 3 ps->addGoalConfig(qgoal);
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 3 ps->solve();
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 3 BOOST_CHECK(ps->roadmap()->nodes().size() > 2);
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 3 BOOST_TEST_MESSAGE("Solved the problem with " << ps->roadmap()->nodes().size()
104 << " nodes.");
105 3 }
106
107 4 void carLikeProblem(const char* steeringMethod, const char* distance,
108 const char* pathValidation, value_type tolerance) {
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 4 ProblemSolverPtr_t ps = ProblemSolver::create();
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 4 ps->maxIterPathPlanning(50);
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 8 DevicePtr_t robot = unittest::makeDevice(unittest::CarLike);
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 4 BOOST_REQUIRE_EQUAL(robot->configSize(), 6);
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 4 robot->rootJoint()->lowerBound(0, -10);
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 4 robot->rootJoint()->lowerBound(1, -10);
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 4 robot->rootJoint()->upperBound(0, 10);
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 4 robot->rootJoint()->upperBound(1, 10);
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 4 ps->robot(robot);
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 4 ps->pathValidationType(pathValidation, tolerance);
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 4 ps->steeringMethodType(steeringMethod);
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 4 ps->distanceType(distance);
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 4 CollisionGeometryPtr_t boxGeom(new coal::Box(0.3, 0.3, 0.3));
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 4 SE3 boxTf(matrix3_t::Identity(), vector3_t(-2, 0, 0));
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 4 ps->addObstacle("box", boxGeom, boxTf, true, true);
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 4 Configuration_t qinit(robot->neutralConfiguration());
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 4 Configuration_t qgoal(robot->neutralConfiguration());
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 4 qgoal << -4, 0, 0, 1, 0, 0;
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 4 ps->initConfig(qinit);
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 4 ps->addGoalConfig(qgoal);
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 4 ps->solve();
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 4 BOOST_CHECK(ps->roadmap()->nodes().size() > 2);
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 4 BOOST_TEST_MESSAGE("Solved the problem with " << ps->roadmap()->nodes().size()
139 << " nodes.");
140 4 }
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 4 BOOST_AUTO_TEST_CASE(pointMass) {
143 2 pointMassProblem("Straight", "Weighed", "Discretized", 0.05);
144 2 pointMassProblem("Straight", "Weighed", "Progressive", 0.05);
145 2 pointMassProblem("Straight", "Weighed", "Dichotomy", 0);
146 2 }
147
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 4 BOOST_AUTO_TEST_CASE(defaultProblem) {
149 2 const char* urdfString =
150 "<robot name='foo'><link name='base_link'>"
151 "<collision><geometry><sphere radius='0.01'/></geometry></collision>"
152 "</link></robot>";
153
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 4 DevicePtr_t robot = Device::create("point");
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 2 urdf::loadModelFromString(robot, 0, "", "translation3d", urdfString, "");
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 2 BOOST_REQUIRE_EQUAL(robot->configSize(), 3);
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 2 robot->rootJoint()->lowerBound(0, -10);
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 2 robot->rootJoint()->lowerBound(1, -10);
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 2 robot->rootJoint()->upperBound(0, 10);
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 2 robot->rootJoint()->upperBound(2, 10);
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 4 ProblemPtr_t problem = Problem::create(robot);
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 2 BOOST_REQUIRE(problem->constraints());
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 2 Configuration_t qinit(robot->neutralConfiguration());
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 2 Configuration_t qgoal(robot->neutralConfiguration());
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 2 qgoal << -4, 0, 0;
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 2 problem->initConfig(qinit);
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 2 problem->addGoalConfig(qgoal);
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 2 BOOST_CHECK_NO_THROW(problem->checkProblem());
175 2 }
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 4 BOOST_AUTO_TEST_CASE(carlike) {
178 2 carLikeProblem("Straight", "Weighed", "Discretized", 0.05);
179 2 carLikeProblem("Straight", "Weighed", "Progressive", 0.05);
180 2 carLikeProblem("Straight", "Weighed", "Dichotomy", 0);
181 2 carLikeProblem("ReedsShepp", "ReedsShepp", "Discretized", 0.05);
182 // Not implemented
183 // carLikeProblem ("ReedsShepp", "ReedsShepp", "Progressive", 0.05);
184 // Not implemented
185 // carLikeProblem ("ReedsShepp", "ReedsShepp", "Dichotomy" , 0 );
186 2 }
187