GCC Code Coverage Report

Directory: ./
File: tests/reeds-and-shepp.cc
Date: 2024-08-10 11:29:48
Exec Total Coverage
Lines: 20 20 100.0%
Branches: 77 182 42.3%
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1 // Copyright (c) 2020, CNRS
2 // Authors: Florent Lamiraux
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 HPP_DEBUG
30 #define BOOST_TEST_MODULE ReedsAndShepp
31 #include <boost/test/included/unit_test.hpp>
32 #include <hpp/core/distance/reeds-shepp.hh>
33 #include <hpp/core/problem.hh>
34 #include <hpp/core/steering-method/reeds-shepp.hh>
35 #include <hpp/pinocchio/joint.hh>
36 #include <hpp/pinocchio/simple-device.hh>
37
38 using hpp::core::Parameter;
39 using hpp::core::PathPtr_t;
40 using hpp::core::Problem;
41 using hpp::core::ProblemPtr_t;
42 using hpp::core::size_type;
43 using hpp::core::value_type;
44 using hpp::pinocchio::Configuration_t;
45 using hpp::pinocchio::DevicePtr_t;
46
47 typedef hpp::core::distance::ReedsShepp Distance;
48 typedef hpp::core::distance::ReedsSheppPtr_t DistancePtr_t;
49 typedef hpp::core::steeringMethod::ReedsShepp SteeringMethod;
50 typedef hpp::core::steeringMethod::ReedsSheppPtr_t SteeringMethodPtr_t;
51
52
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 4 BOOST_AUTO_TEST_CASE(ReedsAndShepp) {
53 DevicePtr_t robot =
54
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 4 hpp::pinocchio::unittest::makeDevice(hpp::pinocchio::unittest::CarLike);
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 2 BOOST_REQUIRE_EQUAL(robot->configSize(), 6);
56 // Set bounds
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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(1, 10);
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 2 ProblemPtr_t problem(Problem::create(robot));
63 // problem->setParameter("SteeringMethod/Carlike/turningRadius",
64 // Parameter(2.));
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 4 problem->setParameter(
66 "SteeringMethod/Carlike/wheels",
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 4 Parameter(std::string("wheel_frontright_joint,wheel_frontleft_joint")));
68 // Rank of the wheels in the configuration vector
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 2 SteeringMethodPtr_t sm(SteeringMethod::createWithGuess(problem));
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 2 DistancePtr_t dist(Distance::create(problem));
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 2 Configuration_t q1(robot->neutralConfiguration());
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 2 Configuration_t q2(robot->neutralConfiguration());
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 2 q1 << -2, 0, -1, 0, 0, 0;
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 2 q1 << 2, 0, 1, 0, 0, 0;
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 2 hppDout(info, "dist = " << (*dist)(q1, q2));
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 4 PathPtr_t path((*sm)(q1, q2));
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 2 hppDout(info, "path length = " << path->length());
81 2 }
82