GCC Code Coverage Report

Directory:	./
File:	tests/test-configprojector.cc
Date:	2024-08-10 11:29:48

	Exec	Total	Coverage
Lines:	98	98	100.0%
Branches:	390	780	50.0%

Line	Branch	Exec	Source
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	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	8	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
55		4	const value_type l = 2;
56	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->lowerBound(0, -l);
57	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->lowerBound(1, -l);
58	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->lowerBound(2, -l);
59	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->upperBound(0, l);
60	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->upperBound(1, l);
61	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 4 times. ✗ Branch 7 not taken.	4	robot->rootJoint()->upperBound(2, l);
62		4	return robot;
63			}
64
65			BOOST_AUTO_TEST_SUITE(config_projector)
66
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68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t dev = createRobot();
69
70	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Configuration_t cfg(dev->neutralConfiguration());
71	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ConstraintSetPtr_t cs = ConstraintSet::create(dev, "empty");
72	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(cs->apply(cfg));
73
74			ConfigProjectorPtr_t projector =
75	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ConfigProjector::create(dev, "test", 1e-4, 20);
76	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	cs->addConstraint(projector);
77	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(projector->apply(cfg));
78		2	}
79
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81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t dev = createRobot();
82	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t xyz = dev->getJointByName("root_joint");
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t rot;
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rot.setIdentity();
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector3_t zero;
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	zero.setZero();
87	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ComparisonTypes_t ineq(3, constraints::Superior);
88	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_REQUIRE(dev);
89			PositionPtr_t position =
90	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	Position::create("Position", dev, xyz, Transform3f(rot, zero));
91
92		2	ineq[1] = constraints::Inferior;
93			ConfigProjectorPtr_t projector =
94	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ConfigProjector::create(dev, "test", 1e-4, 20);
95
96	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	projector->add(constraints::Implicit::create(position, ineq));
97			// Constraints are
98			// q [0] > 0
99			// q [1] < 0
100			// q [2] > 0
101	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Configuration_t cfg(dev->neutralConfiguration());
102
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t invert(3);
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	invert[0] = 1;
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	invert[1] = -1;
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	invert[2] = 1;
107	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cfg.segment(0, 3) = invert;
108	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(projector->apply(cfg));
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110			"Configuration should not be modified.");
111
112	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	cfg.segment(0, 3) = vector_t::Ones(3);
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114	13/26 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 1 times.	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());
117	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK_MESSAGE(cfg(1) < 0, "Dof 1 should have been modified. "
118			<< cfg.head<3>().transpose());
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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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125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t dev = createRobot();
126	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t xyz = dev->getJointByName("root_joint");
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t rot;
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rot.setIdentity();
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector3_t zero;
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	zero.setZero();
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t ref(3);
132	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ComparisonTypes_t ineq(3, constraints::Superior);
133	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_REQUIRE(dev);
134			PositionPtr_t position =
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Position::create("Position", dev, xyz, Transform3f(rot, zero),
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137
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[0] = 0;
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[1] = 0;
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[2] = 0;
141		2	ineq[1] = constraints::Inferior;
142			ConfigProjectorPtr_t projector =
143	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ConfigProjector::create(dev, "test", 1e-4, 20);
144	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	projector->add(constraints::Implicit::create(position, ineq));
145	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Configuration_t cfg(dev->neutralConfiguration());
146
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[0] = 2;
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[1] = 0;
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[2] = 2;
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cfg.segment(0, 3) = ref;
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153			"Configuration should not be modified.");
154
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[0] = 0;
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[1] = 0;
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ref[2] = 0;
158	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cfg.segment(0, 3) = ref;
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161			<< cfg.head<3>().transpose());
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163			(cfg.segment(1, 1) - ref.segment(1, 1)).isZero(),
164			"Dof 1 should not have been modified. " << cfg.head<3>().transpose());
165	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	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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170			using constraints::Implicit;
171			using constraints::ImplicitPtr_t;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t dev = createRobot();
173	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t xyz = dev->getJointByName("root_joint");
174			ConfigProjectorPtr_t projector =
175	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ConfigProjector::create(dev, "test", 1e-4, 20);
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t rot;
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rot.setIdentity();
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector3_t zero;
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	zero.setZero();
180			PositionPtr_t position(
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Position::create("Position", dev, xyz, Transform3f(rot, zero),
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183	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ComparisonTypes_t equality(3, constraints::Equality);
184	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ImplicitPtr_t constraint(Implicit::create(position, equality));
185	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	projector->add(constraint);
186
187			ConfigProjectorPtr_t copy(
188	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	HPP_DYNAMIC_PTR_CAST(ConfigProjector, projector->copy()));
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t rhs(3);
190	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	bool success(copy->solver().getRightHandSide(constraint, rhs));
191	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(success);
192		2	}
193
194			BOOST_AUTO_TEST_SUITE_END()
195