GCC Code Coverage Report


Directory: ./
File: tests/test-configprojector.cc
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 98 98 100.0%
Branches: 390 780 50.0%

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1 // Copyright (c) 2014, LAAS-CNRS
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 ConfigProjector
30 #include <boost/test/included/unit_test.hpp>
31 #include <hpp/constraints/generic-transformation.hh>
32 #include <hpp/constraints/implicit.hh>
33 #include <hpp/constraints/solver/by-substitution.hh>
34 #include <hpp/core/config-projector.hh>
35 #include <hpp/core/constraint-set.hh>
36 #include <hpp/pinocchio/device.hh>
37 #include <hpp/pinocchio/joint.hh>
38 #include <hpp/pinocchio/simple-device.hh>
39 #include <pinocchio/fwd.hpp>
40
41 using hpp::constraints::matrix3_t;
42 using hpp::constraints::Position;
43 using hpp::constraints::PositionPtr_t;
44 using hpp::constraints::vector3_t;
45
46 using namespace hpp;
47 using namespace hpp::pinocchio;
48 using namespace hpp::core;
49
50 typedef Eigen::Matrix<value_type, 3, 1> Vector3;
51 typedef Eigen::Matrix<value_type, 3, 3> Matrix3;
52
53 4 DevicePtr_t createRobot() {
54
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8 DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
55 4 const value_type l = 2;
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4 robot->rootJoint()->lowerBound(0, -l);
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4 robot->rootJoint()->lowerBound(1, -l);
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4 robot->rootJoint()->lowerBound(2, -l);
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4 robot->rootJoint()->upperBound(0, l);
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4 robot->rootJoint()->upperBound(1, l);
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4 robot->rootJoint()->upperBound(2, l);
62 4 return robot;
63 }
64
65 BOOST_AUTO_TEST_SUITE(config_projector)
66
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4 BOOST_AUTO_TEST_CASE(empty) {
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2 DevicePtr_t dev = createRobot();
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2 Configuration_t cfg(dev->neutralConfiguration());
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4 ConstraintSetPtr_t cs = ConstraintSet::create(dev, "empty");
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2 BOOST_CHECK(cs->apply(cfg));
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74 ConfigProjectorPtr_t projector =
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4 ConfigProjector::create(dev, "test", 1e-4, 20);
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2 cs->addConstraint(projector);
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2 BOOST_CHECK(projector->apply(cfg));
78 2 }
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4 BOOST_AUTO_TEST_CASE(ref_zero) {
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2 DevicePtr_t dev = createRobot();
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4 JointPtr_t xyz = dev->getJointByName("root_joint");
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2 matrix3_t rot;
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2 rot.setIdentity();
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2 vector3_t zero;
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2 zero.setZero();
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2 ComparisonTypes_t ineq(3, constraints::Superior);
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2 BOOST_REQUIRE(dev);
89 PositionPtr_t position =
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4 Position::create("Position", dev, xyz, Transform3s(rot, zero));
91
92 2 ineq[1] = constraints::Inferior;
93 ConfigProjectorPtr_t projector =
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4 ConfigProjector::create(dev, "test", 1e-4, 20);
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2 projector->add(constraints::Implicit::create(position, ineq));
97 // Constraints are
98 // q [0] > 0
99 // q [1] < 0
100 // q [2] > 0
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2 Configuration_t cfg(dev->neutralConfiguration());
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2 vector_t invert(3);
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2 invert[0] = 1;
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2 invert[1] = -1;
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2 invert[2] = 1;
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2 cfg.segment(0, 3) = invert;
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2 BOOST_CHECK(projector->apply(cfg));
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2 BOOST_CHECK_MESSAGE((cfg.segment(0, 3) - invert).isZero(),
110 "Configuration should not be modified.");
111
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2 cfg.segment(0, 3) = vector_t::Ones(3);
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2 BOOST_CHECK(projector->apply(cfg));
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2 BOOST_CHECK_MESSAGE(
115 (cfg.segment(0, 1) - vector_t::Ones(1)).isZero(),
116 "Dof 0 should not have been modified. " << cfg.head<3>().transpose());
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2 BOOST_CHECK_MESSAGE(cfg(1) < 0, "Dof 1 should have been modified. "
118 << cfg.head<3>().transpose());
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2 BOOST_CHECK_MESSAGE(
120 (cfg.segment(2, 1) - vector_t::Ones(1)).isZero(),
121 "Dof 2 should not have been modified. " << cfg.head<3>().transpose());
122 2 }
123
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4 BOOST_AUTO_TEST_CASE(ref_not_zero) {
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2 DevicePtr_t dev = createRobot();
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4 JointPtr_t xyz = dev->getJointByName("root_joint");
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2 matrix3_t rot;
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2 rot.setIdentity();
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2 vector3_t zero;
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2 zero.setZero();
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2 vector_t ref(3);
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2 ComparisonTypes_t ineq(3, constraints::Superior);
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2 BOOST_REQUIRE(dev);
134 PositionPtr_t position =
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2 Position::create("Position", dev, xyz, Transform3s(rot, zero),
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6 Transform3s(rot, vector3_t(1, 1, 1)));
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2 ref[0] = 0;
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2 ref[1] = 0;
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2 ref[2] = 0;
141 2 ineq[1] = constraints::Inferior;
142 ConfigProjectorPtr_t projector =
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4 ConfigProjector::create(dev, "test", 1e-4, 20);
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2 projector->add(constraints::Implicit::create(position, ineq));
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2 Configuration_t cfg(dev->neutralConfiguration());
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2 ref[0] = 2;
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2 ref[1] = 0;
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2 ref[2] = 2;
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2 cfg.segment(0, 3) = ref;
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2 BOOST_CHECK(projector->apply(cfg));
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2 BOOST_CHECK_MESSAGE((cfg.segment(0, 3) - ref).isZero(),
153 "Configuration should not be modified.");
154
155
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2 ref[0] = 0;
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2 ref[1] = 0;
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2 ref[2] = 0;
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2 cfg.segment(0, 3) = ref;
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2 BOOST_CHECK(projector->apply(cfg));
160
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2 BOOST_CHECK_MESSAGE(cfg(0) > 1, "Dof 0 should have been modified. "
161 << cfg.head<3>().transpose());
162
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2 BOOST_CHECK_MESSAGE(
163 (cfg.segment(1, 1) - ref.segment(1, 1)).isZero(),
164 "Dof 1 should not have been modified. " << cfg.head<3>().transpose());
165
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2 BOOST_CHECK_MESSAGE(cfg(2) > 1, "Dof 2 should have been modified. "
166 << cfg.head<3>().transpose());
167 2 }
168
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4 BOOST_AUTO_TEST_CASE(copy) {
170 using constraints::Implicit;
171 using constraints::ImplicitPtr_t;
172
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2 DevicePtr_t dev = createRobot();
173
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4 JointPtr_t xyz = dev->getJointByName("root_joint");
174 ConfigProjectorPtr_t projector =
175
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4 ConfigProjector::create(dev, "test", 1e-4, 20);
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2 matrix3_t rot;
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2 rot.setIdentity();
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2 vector3_t zero;
179
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2 zero.setZero();
180 PositionPtr_t position(
181
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2 Position::create("Position", dev, xyz, Transform3s(rot, zero),
182
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6 Transform3s(rot, vector3_t(1, 1, 1))));
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2 ComparisonTypes_t equality(3, constraints::Equality);
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4 ImplicitPtr_t constraint(Implicit::create(position, equality));
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2 projector->add(constraint);
186
187 ConfigProjectorPtr_t copy(
188
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2 HPP_DYNAMIC_PTR_CAST(ConfigProjector, projector->copy()));
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2 vector_t rhs(3);
190
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2 bool success(copy->solver().getRightHandSide(constraint, rhs));
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2 BOOST_CHECK(success);
192 2 }
193
194 BOOST_AUTO_TEST_SUITE_END()
195