GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	50	50	100.0%
Branches:	160	314	51.0%

Line	Branch	Exec	Source
1			#define BOOST_TEST_MODULE spline_gradient_based
2			#include <boost/mpl/list.hpp>
3			#include <boost/test/included/unit_test.hpp>
4			#include <hpp/core/path-optimization/spline-gradient-based.hh>
5			#include <hpp/core/problem.hh>
6			#include <hpp/core/straight-path.hh>
7			#include <hpp/pinocchio/urdf/util.hh>
8			#include <hpp/util/debug.hh>
9
10			using namespace hpp::pinocchio;
11			using namespace hpp::core;
12
13		9	DevicePtr_t createNDoFRobot(int ndof) {
14	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	9	std::ostringstream oss;
15			oss << "<robot name='test'>"
16	2/4 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken.	9	<< "<link name='link0'/>";
17	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 9 times.	18	for (int i = 0; i < ndof; ++i) {
18	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	9	oss << "<joint name='joint" << i << "' type='prismatic'>"
19	3/6 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken.	9	<< "<parent link='link" << i << "'/>"
20	3/6 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken.	9	<< "<child link='link" << i + 1 << "'/>"
21			<< "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
22			<< "</joint>"
23	7/14 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 9 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 9 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 9 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 9 times. ✗ Branch 20 not taken.	9	<< "<link name='link" << i + 1 << "'/>";
24			}
25	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	9	oss << "</robot>";
26	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	9	std::string urdf(oss.str());
27
28	2/4 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken.	18	DevicePtr_t robot = Device::create("test");
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30		18	return robot;
31		9	}
32
33			typedef pathOptimization::SplineGradientBased<path::BernsteinBasis, 3>
34			SplineGradientBased_bezier3;
35			typedef pathOptimization::SplineGradientBased<path::BernsteinBasis, 5>
36			SplineGradientBased_bezier5;
37			typedef pathOptimization::SplineGradientBased<path::BernsteinBasis, 7>
38			SplineGradientBased_bezier7;
39
40			template <typename OptimizerType>
41		18	void test_spline_gradient_based(size_type costOrder) {
42	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	DevicePtr_t dev = createNDoFRobot(1);
43	1/2 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken.	18	ProblemPtr_t problem = Problem::create(dev);
44	3/6 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 9 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken.	18	problem->setParameter("SplineGradientBased/returnOptimum", Parameter(true));
45	3/6 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 9 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken.	18	problem->setParameter("SplineGradientBased/costOrder", Parameter(costOrder));
46
47	1/2 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken.	18	typename OptimizerType::Ptr_t opt = OptimizerType::create(problem);
48
49	3/6 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 9 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken.	18	PathVectorPtr_t pv = PathVector::create(dev->configSize(), dev->numberDof());
50
51	4/8 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 9 times. ✗ Branch 13 not taken.	18	Configuration_t q0(dev->configSize()), q1(dev->configSize());
52	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	q0 << 0.0;
53	2/4 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken.	18	vector_t subpathTimes(vector_t::LinSpaced(4, 0.0, 3.0));
54	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 9 times.	72	for (int i = 1; i < subpathTimes.size(); ++i) {
55	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	q1 << subpathTimes[i];
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57	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	q0 = q1;
58			}
59
60	1/2 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken.	18	PathVectorPtr_t optPath = opt->optimize(pv);
61
62	2/4 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken.	18	vector_t ts(vector_t::LinSpaced(subpathTimes.size() * 10, 0.0, 3.0));
63	2/4 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken.	18	Configuration_t qi(dev->configSize());
64	4/8 ✓ Branch 2 taken 9 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 9 times. ✗ Branch 13 not taken.	18	vector_t vi(dev->numberDof()), ai(dev->numberDof());
65	3/6 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken.	18	std::cout << "d_order" << OptimizerType::SplineOrder << "_cost" << costOrder
66	2/4 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken.	18	<< "=[";
67	2/2 ✓ Branch 1 taken 360 times. ✓ Branch 2 taken 9 times.	738	for (int i = 0; i < ts.size(); ++i) {
68	3/6 ✓ Branch 2 taken 360 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 360 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 360 times. ✗ Branch 9 not taken.	720	optPath->eval(qi, ts[i]);
69	3/6 ✓ Branch 2 taken 360 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 360 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 360 times. ✗ Branch 9 not taken.	720	optPath->derivative(vi, ts[i], 1);
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72			}
73	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	std::cout << "]\n";
74		18	}
75
76			typedef boost::mpl::list<SplineGradientBased_bezier3,
77			SplineGradientBased_bezier5,
78			SplineGradientBased_bezier7>
79			SplineGradientBaseds_t;
80
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82			SplineGradientBaseds_t) {
83		6	hpp::debug::setVerbosityLevel(50);
84		6	test_spline_gradient_based<SplineGradientBasedType>(1);
85		6	test_spline_gradient_based<SplineGradientBasedType>(2);
86		6	test_spline_gradient_based<SplineGradientBasedType>(3);
87		6	}
88
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90		2	std::cout << R"(
91			import numpy as np
92			import matplotlib.pyplot as plt
93
94			def plot_q(dd):
95			d = np.array(dd)
96			plt.title("position")
97			plt.plot(d[:,0], d[:,1])
98			plt.plot([d[0,0], d[-1,0]], [d[0,1], d[-1,1]])
99
100			plt.show()
101
102			def plot_qva(dd):
103			d = np.array(dd)
104			plt.subplot(3,1,1)
105			plt.title("position")
106			plt.plot(d[:,0], d[:,1])
107
108			plt.subplot(3,1,2)
109			plt.title("velocity")
110			plt.plot(d[:,0], d[:,2])
111
112			plt.subplot(3,1,3)
113			plt.title("acceleration")
114			plt.plot(d[:,0], d[:,3])
115
116			plt.show()
117			)";
118		2	}
119