GCC Code Coverage Report

Directory: ./
File: tests/roadmap-1.cc
Date: 2024-08-10 11:29:48
Exec Total Coverage
Lines: 248 249 99.6%
Branches: 871 1712 50.9%
Line Branch Exec Source
1 // Copyright (C) 2014 LAAS-CNRS
2 // Author: Mathieu Geisert
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 #include <boost/assign.hpp>
30 #include <hpp/core/connected-component.hh>
31 #include <hpp/core/fwd.hh>
32 #include <hpp/core/nearest-neighbor.hh>
33 #include <hpp/core/node.hh>
34 #include <hpp/core/parser/roadmap.hh>
35 #include <hpp/core/problem.hh>
36 #include <hpp/core/roadmap.hh>
37 #include <hpp/core/steering-method/straight.hh>
38 #include <hpp/core/weighed-distance.hh>
39 #include <hpp/pinocchio/configuration.hh>
40 #include <hpp/pinocchio/device.hh>
41 #include <hpp/pinocchio/joint.hh>
42 #include <hpp/pinocchio/serialization.hh>
43 #include <hpp/pinocchio/urdf/util.hh>
44 #include <hpp/util/debug.hh>
45
46 #define BOOST_TEST_MODULE roadmap - 1
47 #include <boost/test/included/unit_test.hpp>
48
49 using namespace hpp::core;
50 using namespace hpp::pinocchio;
51
52 using hpp::core::steeringMethod::Straight;
53 using hpp::core::steeringMethod::StraightPtr_t;
54
55 BOOST_AUTO_TEST_SUITE(test_hpp_core)
56
57 20 void addEdge(const hpp::core::RoadmapPtr_t& r,
58 const hpp::core::SteeringMethod& sm,
59 const std::vector<NodePtr_t>& nodes, std::size_t i,
60 std::size_t j) {
61
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 40 r->addEdge(nodes[i], nodes[j],
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 40 sm(nodes[i]->configuration(), nodes[j]->configuration()));
63 20 }
64
65 4 DevicePtr_t createRobot() {
66 std::string urdf(
67 "<robot name='test'>"
68 "<link name='link1'/>"
69 "<link name='link2'/>"
70 "<link name='link3'/>"
71 "<joint name='tx' type='prismatic'>"
72 "<parent link='link1'/>"
73 "<child link='link2'/>"
74 "<limit effort='30' velocity='1.0' lower='-3' upper='3'/>"
75 "</joint>"
76 "<joint name='ty' type='prismatic'>"
77 "<axis xyz='0 1 0'/>"
78 "<parent link='link2'/>"
79 "<child link='link3'/>"
80 "<limit effort='30' velocity='1.0' lower='-3' upper='3'/>"
81 "</joint>"
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 4 "</robot>");
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 8 DevicePtr_t robot = Device::create("test");
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 4 urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
86 8 return robot;
87 4 }
88
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 4 BOOST_AUTO_TEST_CASE(Roadmap1) {
90 // Build robot
91
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 2 DevicePtr_t robot = createRobot();
92
93 // Create steering method
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 2 ProblemPtr_t p = Problem::create(robot);
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 2 StraightPtr_t sm = Straight::create(p);
96 // create roadmap
97 hpp::core::DistancePtr_t distance(
98
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 4 WeighedDistance::createWithWeight(robot, vector_t::Ones(2)));
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 2 RoadmapPtr_t r = Roadmap::create(distance, robot);
100
101 2 std::vector<NodePtr_t> nodes;
102
103 // nodes [0]
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 2 Configuration_t q(robot->configSize());
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 2 q[0] = 0;
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 2 q[1] = 0;
107 // Set init node
108
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 2 r->initNode(q);
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 2 nodes.push_back(r->initNode());
110
111 // nodes [1]
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 1;
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 2 q[1] = 0;
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 2 nodes.push_back(r->addNode(q));
116
117 // nodes [2]
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 0.5;
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 2 q[1] = 0.9;
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 2 nodes.push_back(r->addNode(q));
122
123 // nodes [3]
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = -0.1;
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 2 q[1] = -0.9;
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 2 nodes.push_back(r->addNode(q));
128
129 // nodes [4]
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 1.5;
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 2 q[1] = 2.9;
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 2 nodes.push_back(r->addNode(q));
134
135 // nodes [5]
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 2.5;
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 2 q[1] = 2.9;
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 2 nodes.push_back(r->addNode(q));
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 2 r->addGoalNode(nodes[5]->configuration());
141
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 2 BOOST_TEST_MESSAGE(*r);
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 6);
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 14 for (std::size_t i = 0; i < nodes.size(); ++i) {
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 42 for (std::size_t j = i + 1; j < nodes.size(); ++j) {
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 30 BOOST_CHECK_MESSAGE(
147 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
148 "nodes " << i << " and " << j << "are in the same"
149 << " connected component");
150 }
151 }
152
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 2 BOOST_CHECK(!r->pathExists());
153 // 0 -> 1
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 2 addEdge(r, *sm, nodes, 0, 1);
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 6);
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 42 for (std::size_t j = i + 1; j < nodes.size(); ++j) {
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 30 BOOST_CHECK_MESSAGE(
159 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
160 "nodes " << i << " and " << j << "are in the same"
161 << " connected component");
162 }
163 }
164
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 2 BOOST_CHECK(!r->pathExists());
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 2 BOOST_TEST_MESSAGE(*r);
166
167 // 1 -> 0
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 2 addEdge(r, *sm, nodes, 1, 0);
169
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 5);
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
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 20 BOOST_CHECK_MESSAGE(
175 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
176 "nodes " << i << " and " << j << "are in the same"
177 << " connected component");
178 }
179 }
180
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 2 BOOST_CHECK(!r->pathExists());
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 2 BOOST_TEST_MESSAGE(*r);
182 // 1 -> 2
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 2 addEdge(r, *sm, nodes, 1, 2);
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 5);
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
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 12 for (std::size_t i = 1; i < nodes.size(); ++i) {
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 30 for (std::size_t j = i + 1; j < nodes.size(); ++j) {
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 20 BOOST_CHECK_MESSAGE(
189 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
190 "nodes " << i << " and " << j << "are in the same"
191 << " connected component");
192 }
193 }
194
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 2 BOOST_CHECK(!r->pathExists());
195
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 2 BOOST_TEST_MESSAGE(*r);
196
197 // 2 -> 0
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 2 addEdge(r, *sm, nodes, 2, 0);
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 4);
200
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
201
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
202
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 10 for (std::size_t i = 2; i < nodes.size(); ++i) {
203
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204
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 12 BOOST_CHECK_MESSAGE(
205 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
206 "nodes " << i << " and " << j << "are in the same"
207 << " connected component");
208 }
209 }
210
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 2 BOOST_CHECK(!r->pathExists());
211
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 2 BOOST_TEST_MESSAGE(*r);
212
213 // 2 -> 3
214
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 2 addEdge(r, *sm, nodes, 2, 3);
215
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 4);
216
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
217
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
218
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219
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220
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 12 BOOST_CHECK_MESSAGE(
221 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
222 "nodes " << i << " and " << j << "are in the same"
223 << " connected component");
224 }
225 }
226
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 2 BOOST_CHECK(!r->pathExists());
227
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 2 BOOST_TEST_MESSAGE(*r);
228
229 // 2 -> 4
230
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 2 addEdge(r, *sm, nodes, 2, 4);
231
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 4);
232
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
233
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
234
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235
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236
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 12 BOOST_CHECK_MESSAGE(
237 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
238 "nodes " << i << " and " << j << "are in the same"
239 << " connected component");
240 }
241 }
242
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 2 BOOST_CHECK(!r->pathExists());
243
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 2 BOOST_TEST_MESSAGE(*r);
244
245 // 3 -> 5
246
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 2 addEdge(r, *sm, nodes, 3, 5);
247
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 4);
248
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
249
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
250
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251
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252
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 12 BOOST_CHECK_MESSAGE(
253 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
254 "nodes " << i << " and " << j << "are in the same"
255 << " connected component");
256 }
257 }
258
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 2 BOOST_CHECK(r->pathExists());
259
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 2 BOOST_TEST_MESSAGE(*r);
260
261 // 4 -> 5
262
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 2 addEdge(r, *sm, nodes, 4, 5);
263
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 4);
264
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
265
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
266
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 10 for (std::size_t i = 2; i < nodes.size(); ++i) {
267
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268
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 12 BOOST_CHECK_MESSAGE(
269 nodes[i]->connectedComponent() != nodes[j]->connectedComponent(),
270 "nodes " << i << " and " << j << "are in the same"
271 << " connected component");
272 }
273 }
274
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 2 BOOST_CHECK(r->pathExists());
275
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 2 BOOST_TEST_MESSAGE(*r);
276
277 // 5 -> 0
278
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 2 addEdge(r, *sm, nodes, 5, 0);
279
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 2 BOOST_CHECK_EQUAL(r->connectedComponents().size(), 1);
280
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[1]->connectedComponent());
281
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[2]->connectedComponent());
282
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[3]->connectedComponent());
283
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[4]->connectedComponent());
284
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 2 BOOST_CHECK(nodes[0]->connectedComponent() == nodes[5]->connectedComponent());
285
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 2 BOOST_CHECK(r->pathExists());
286
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 2 BOOST_TEST_MESSAGE(*r);
287
288 // Check that memory if well deallocated.
289 2 std::list<ConnectedComponentWkPtr_t> ccs;
290 2 for (ConnectedComponents_t::const_iterator _cc =
291
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 2 r->connectedComponents().begin();
292
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 4 _cc != r->connectedComponents().end(); ++_cc)
293
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 2 ccs.push_back(*_cc);
294
295 2 r.reset();
296 2 for (std::list<ConnectedComponentWkPtr_t>::const_iterator _cc = ccs.begin();
297
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 2 _cc != ccs.begin(); ++_cc) {
298 ✗ BOOST_CHECK(!_cc->lock());
299 }
300 2 }
301
302
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 4 BOOST_AUTO_TEST_CASE(nearestNeighbor) {
303 // Build robot
304
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 2 DevicePtr_t robot = createRobot();
305
306 // Create steering method
307
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 2 ProblemPtr_t p = Problem::create(robot);
308
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 2 StraightPtr_t sm = Straight::create(p);
309 // create roadmap
310 hpp::core::DistancePtr_t distance(
311
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 4 WeighedDistance::createWithWeight(robot, vector_t::Ones(2)));
312
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 2 RoadmapPtr_t r = Roadmap::create(distance, robot);
313
314 2 std::vector<NodePtr_t> nodes;
315
316 // nodes [0]
317
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 2 Configuration_t q(robot->configSize());
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 2 q[0] = 0;
319
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 2 q[1] = 0;
320
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 2 nodes.push_back(r->addNode(q));
321
322 // nodes [1]
323
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 1;
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 2 q[1] = 0;
326
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 2 nodes.push_back(r->addNode(q));
327
328 // nodes [2]
329
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 0.5;
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 2 q[1] = 0.9;
332
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 2 nodes.push_back(r->addNode(q));
333
334 // nodes [3]
335
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = -0.1;
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 2 q[1] = -0.9;
338
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 2 nodes.push_back(r->addNode(q));
339
340 // nodes [4]
341
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 1.5;
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 2 q[1] = 2.9;
344
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 2 nodes.push_back(r->addNode(q));
345
346 // nodes [5]
347
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 2 q = Configuration_t(robot->configSize());
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 2 q[0] = 2.5;
349
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 2 q[1] = 2.9;
350
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 2 nodes.push_back(r->addNode(q));
351
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 2 r->addGoalNode(nodes[5]->configuration());
352
353 // nodes [6]
354
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 2 q = Configuration_t(robot->configSize());
355
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 2 q[0] = 0;
356
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 2 q[1] = 0.2;
357
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 2 nodes.push_back(r->addNode(q));
358
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 2 r->addGoalNode(nodes[6]->configuration());
359
360 // 0 -> 1
361
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 2 addEdge(r, *sm, nodes, 0, 1);
362 // 1 -> 0
363
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 2 addEdge(r, *sm, nodes, 1, 0);
364 // 1 -> 2
365
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 2 addEdge(r, *sm, nodes, 1, 2);
366 // 2 -> 0
367
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 2 addEdge(r, *sm, nodes, 2, 0);
368 // 0 -> 3
369
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 2 addEdge(r, *sm, nodes, 0, 3);
370 // 3 -> 2
371
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 2 addEdge(r, *sm, nodes, 3, 2);
372
373 hpp::pinocchio::value_type dist;
374 using hpp::core::Nodes_t;
375
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 2 Nodes_t knearest = r->nearestNeighbor()->KnearestSearch(
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 4 nodes[0]->configuration(), nodes[0]->connectedComponent(), 3, dist);
377
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 8 for (Nodes_t::const_iterator it = knearest.begin(); it != knearest.end();
378 6 ++it) {
379
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 6 BOOST_TEST_MESSAGE("q = [" << (*it)->configuration().transpose()
380 << "] - dist : "
381 << (*distance)(nodes[0]->configuration(),
382 (*it)->configuration()));
383 }
384 2 for (std::vector<NodePtr_t>::const_iterator it = nodes.begin();
385
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 16 it != nodes.end(); ++it) {
386
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 14 Configuration_t q = (*it)->configuration();
387
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 14 BOOST_TEST_MESSAGE("[" << q.transpose() << "] - dist : "
388 << (*distance)(nodes[0]->configuration(), q));
389 14 }
390 2 }
391
392
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 4 BOOST_AUTO_TEST_CASE(serialization) {
393 // Build robot
394
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 2 DevicePtr_t robot = createRobot();
395
396 // Create steering method
397
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 2 ProblemPtr_t p = Problem::create(robot);
398
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 2 StraightPtr_t sm = Straight::create(p);
399 // create roadmap
400 hpp::core::DistancePtr_t distance(
401
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 4 WeighedDistance::createWithWeight(robot, vector_t::Ones(2)));
402
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 2 RoadmapPtr_t r = Roadmap::create(distance, robot);
403
404 2 std::vector<NodePtr_t> nodes;
405
406 // nodes [0]
407
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 2 Configuration_t q(robot->configSize());
408
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 2 q[0] = 0;
409
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 2 q[1] = 0;
410 // Set init node
411
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 2 r->initNode(q);
412
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 2 nodes.push_back(r->initNode());
413
414 // nodes [1]
415
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 2 q = Configuration_t(robot->configSize());
416
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 2 q[0] = 1;
417
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418
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 2 nodes.push_back(r->addNode(q));
419
420 // nodes [2]
421
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 2 q = Configuration_t(robot->configSize());
422
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 2 q[0] = 0.5;
423
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 2 q[1] = 0.9;
424
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 2 nodes.push_back(r->addNode(q));
425
426 // nodes [3]
427
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 2 q = Configuration_t(robot->configSize());
428
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 2 q[0] = -0.1;
429
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 2 q[1] = -0.9;
430
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 2 nodes.push_back(r->addNode(q));
431
432 // nodes [4]
433
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 2 q = Configuration_t(robot->configSize());
434
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 2 q[0] = 1.5;
435
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 2 q[1] = 2.9;
436
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 2 nodes.push_back(r->addNode(q));
437
438 // nodes [5]
439
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 2 q = Configuration_t(robot->configSize());
440
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 2 q[0] = 2.5;
441
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 2 q[1] = 2.9;
442
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 2 nodes.push_back(r->addNode(q));
443
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 2 r->addGoalNode(nodes[5]->configuration());
444
445 // 1 -> 0
446
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 2 addEdge(r, *sm, nodes, 0, 1);
447 // 1 -> 2
448
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 2 addEdge(r, *sm, nodes, 1, 2);
449 // 2 -> 0
450
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 2 addEdge(r, *sm, nodes, 2, 0);
451 // 3 -> 5
452
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 2 addEdge(r, *sm, nodes, 3, 5);
453 // 4 -> 5
454
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 2 addEdge(r, *sm, nodes, 4, 5);
455
456
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 2 std::cout << *r << std::endl;
457
458 // save data to archive
459
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 2 parser::serializeRoadmap<hpp::serialization::text_oarchive>(
460
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 4 r, "filename.txt", parser::make_nvp(robot->name(), robot.get()));
461
462
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 2 parser::serializeRoadmap<hpp::serialization::xml_oarchive>(
463
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 4 r, "filename.xml", parser::make_nvp(robot->name(), robot.get()));
464
465
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 2 parser::serializeRoadmap<hpp::serialization::binary_oarchive>(
466
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 4 r, "filename.bin", parser::make_nvp(robot->name(), robot.get()));
467 2 }
468
469
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 4 BOOST_AUTO_TEST_CASE(deserialization) {
470
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 2 DevicePtr_t robot = createRobot();
471
472 2 RoadmapPtr_t nr;
473
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 2 std::cout << *nr << std::endl;
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 2 std::cout << *nr << std::endl;
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 2 std::cout << *nr << std::endl;
484 2 }
485
486 BOOST_AUTO_TEST_SUITE_END()
487