Directory: | ./ |
---|---|
File: | tests/time-parameterization.cc |
Date: | 2024-08-10 11:29:48 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 100 | 103 | 97.1% |
Branches: | 538 | 1098 | 49.0% |
Line | Branch | Exec | Source |
---|---|---|---|
1 | // Copyright (c) 2017, Joseph Mirabel | ||
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 time_parameterization | ||
30 | #include <boost/test/included/unit_test.hpp> | ||
31 | #include <hpp/core/time-parameterization/piecewise-polynomial.hh> | ||
32 | #include <hpp/core/time-parameterization/polynomial.hh> | ||
33 | #include <hpp/pinocchio/simple-device.hh> | ||
34 | #include <pinocchio/fwd.hpp> | ||
35 | |||
36 | using namespace hpp::core; | ||
37 | using namespace hpp::pinocchio; | ||
38 | |||
39 | ✗ | DevicePtr_t createRobot() { | |
40 | ✗ | DevicePtr_t robot = unittest::makeDevice(unittest::ManipulatorArm2); | |
41 | ✗ | return robot; | |
42 | } | ||
43 | |||
44 | BOOST_AUTO_TEST_SUITE(polynomial) | ||
45 | |||
46 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(linear) { |
47 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | vector_t a(vector_t::Ones(2)); |
48 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | timeParameterization::Polynomial P(a); |
49 | |||
50 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(-1), 0); |
51 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(0), 1); |
52 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(1), 2); |
53 | |||
54 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(-1, 1), 1); |
55 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(0, 1), 1); |
56 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(1, 1), 1); |
57 | |||
58 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 1); |
59 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(-1, 1), 1); |
60 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(-5, 5), 1); |
61 | 2 | } | |
62 | |||
63 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(cubic1) { |
64 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | vector_t a(vector_t::Ones(4)); |
65 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | timeParameterization::Polynomial P(a); |
66 | |||
67 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(-1), 0); |
68 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(0), 1); |
69 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(1), 4); |
70 | |||
71 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(-2, 1), 9); |
72 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(-1, 1), 2); |
73 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(0, 1), 1); |
74 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(1, 1), 6); |
75 | |||
76 | // x_m = - 1 / 3, P'(x_m) = 2/3 | ||
77 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 6); |
78 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(-1, 0), 2); |
79 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(-2, -1), 9); |
80 | 2 | } | |
81 | |||
82 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(cubic2) { |
83 |
2/4✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
|
2 | vector_t a(vector_t::Ones(4)); |
84 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | a[3] = -1; |
85 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | timeParameterization::Polynomial P(a); |
86 | |||
87 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(-1), 2); |
88 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(0), 1); |
89 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(1), 2); |
90 | |||
91 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(-1, 1), -4); |
92 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(0, 1), 1); |
93 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivative(1, 1), 0); |
94 | |||
95 | // x_m = 1 / 3, P'(x_m) = 4 / 3 | ||
96 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 4. / 3); |
97 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(-1, 0), 4); |
98 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.derivativeBound(1. / 3, 1), 4. / 3); |
99 | 2 | } | |
100 | |||
101 | 2 | value_type integrate(const timeParameterization::Polynomial& P, | |
102 | const value_type& L) { | ||
103 | 2 | int N = 10000; | |
104 | |||
105 | 2 | value_type dt = L / N; | |
106 | 2 | value_type integral = 0; | |
107 | |||
108 |
2/2✓ Branch 0 taken 20000 times.
✓ Branch 1 taken 2 times.
|
20002 | for (int i = 0; i < N; ++i) { |
109 |
1/2✓ Branch 1 taken 20000 times.
✗ Branch 2 not taken.
|
20000 | integral += P.derivative(i * dt, 1) * dt; |
110 | } | ||
111 | 2 | return integral; | |
112 | } | ||
113 | |||
114 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(degree5integration) { |
115 | 2 | value_type prec = 0.01; // % | |
116 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | vector_t a(6); |
117 | { | ||
118 |
6/12✓ 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.
✓ 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.
|
2 | a << 0, 0, 0, 2.10515, -3.83792, 1.86585; |
119 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | timeParameterization::Polynomial P(a); |
120 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | value_type integral = integrate(P, 0.822769); |
121 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(integral, 0.117251, prec); |
122 | 2 | } | |
123 | { | ||
124 |
6/12✓ 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.
✓ 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.
|
2 | a << 0, 0, 0, 1.13097, -1.10773, 0.289323; |
125 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | timeParameterization::Polynomial P(a); |
126 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | value_type integral = integrate(P, 1.53147); |
127 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(integral, 0.406237, prec); |
128 | 2 | } | |
129 | 2 | } | |
130 | |||
131 | BOOST_AUTO_TEST_SUITE_END() | ||
132 | |||
133 | BOOST_AUTO_TEST_SUITE(piecewise_polynomial) | ||
134 | |||
135 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(linear) { |
136 | typedef timeParameterization::PiecewisePolynomial<1> | ||
137 | LinearPiecewisePolynomial; | ||
138 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | LinearPiecewisePolynomial::ParameterMatrix_t M(2, 2); |
139 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | vector_t xs(3); |
140 | // P(x) = x + 1 for x in [0, 1] | ||
141 | // P(x) = 3 - x for x in [1, 2] | ||
142 |
4/8✓ 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.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
2 | M << 1, 3, 1, -1; |
143 |
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 | xs << 0, 1, 2; |
144 | |||
145 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | LinearPiecewisePolynomial P(M, xs); |
146 | |||
147 |
11/34✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✗ Branch 8 not taken.
✓ Branch 9 taken 1 times.
✗ Branch 11 not taken.
✗ Branch 12 not taken.
✗ Branch 15 not taken.
✗ Branch 16 not taken.
✗ Branch 20 not taken.
✗ Branch 21 not taken.
✗ Branch 23 not taken.
✗ Branch 24 not taken.
✗ Branch 26 not taken.
✗ Branch 27 not taken.
✗ Branch 31 not taken.
✗ Branch 32 not taken.
✗ Branch 34 not taken.
✓ Branch 35 taken 1 times.
✗ Branch 38 not taken.
✓ Branch 39 taken 1 times.
✓ Branch 42 taken 1 times.
✗ Branch 43 not taken.
✓ Branch 46 taken 1 times.
✗ Branch 47 not taken.
✓ Branch 51 taken 1 times.
✗ Branch 52 not taken.
✓ Branch 54 taken 1 times.
✗ Branch 55 not taken.
✓ Branch 57 taken 1 times.
✗ Branch 58 not taken.
✗ Branch 62 not taken.
✓ Branch 63 taken 1 times.
|
4 | BOOST_CHECK_THROW(P.value(-0.1), std::invalid_argument); |
148 |
11/34✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✗ Branch 8 not taken.
✓ Branch 9 taken 1 times.
✗ Branch 11 not taken.
✗ Branch 12 not taken.
✗ Branch 15 not taken.
✗ Branch 16 not taken.
✗ Branch 20 not taken.
✗ Branch 21 not taken.
✗ Branch 23 not taken.
✗ Branch 24 not taken.
✗ Branch 26 not taken.
✗ Branch 27 not taken.
✗ Branch 31 not taken.
✗ Branch 32 not taken.
✗ Branch 34 not taken.
✓ Branch 35 taken 1 times.
✗ Branch 38 not taken.
✓ Branch 39 taken 1 times.
✓ Branch 42 taken 1 times.
✗ Branch 43 not taken.
✓ Branch 46 taken 1 times.
✗ Branch 47 not taken.
✓ Branch 51 taken 1 times.
✗ Branch 52 not taken.
✓ Branch 54 taken 1 times.
✗ Branch 55 not taken.
✓ Branch 57 taken 1 times.
✗ Branch 58 not taken.
✗ Branch 62 not taken.
✓ Branch 63 taken 1 times.
|
4 | BOOST_CHECK_THROW(P.value(2.1), std::invalid_argument); |
149 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(0), 1); |
150 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(1), 2); |
151 |
6/12✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 1 times.
✗ Branch 17 not taken.
✗ Branch 20 not taken.
✓ Branch 21 taken 1 times.
|
2 | BOOST_CHECK_EQUAL(P.value(2), 1); |
152 | 2 | } | |
153 | |||
154 | template <int Order> | ||
155 | 1 | value_type integrate( | |
156 | const timeParameterization::PiecewisePolynomial<Order>& P) { | ||
157 | 1 | int N = 10000; | |
158 | |||
159 | 1 | std::vector<value_type> const& ts = P.breakpoints(); | |
160 | 1 | value_type dt = (ts.back() - ts.front()) / N; | |
161 | 1 | value_type integral = 0; | |
162 | |||
163 |
2/2✓ Branch 0 taken 10000 times.
✓ Branch 1 taken 1 times.
|
10001 | for (int i = 0; i < N; ++i) { |
164 |
1/2✓ Branch 2 taken 10000 times.
✗ Branch 3 not taken.
|
10000 | integral += P.derivative(ts.front() + i * dt, 1) * dt; |
165 | } | ||
166 | 1 | return integral; | |
167 | } | ||
168 | |||
169 |
33/66✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 1 times.
✗ Branch 15 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 27 taken 1 times.
✗ Branch 28 not taken.
✓ Branch 30 taken 1 times.
✗ Branch 31 not taken.
✓ Branch 33 taken 1 times.
✗ Branch 34 not taken.
✓ Branch 36 taken 1 times.
✗ Branch 37 not taken.
✓ Branch 41 taken 1 times.
✗ Branch 42 not taken.
✓ Branch 45 taken 1 times.
✗ Branch 46 not taken.
✓ Branch 48 taken 1 times.
✗ Branch 49 not taken.
✓ Branch 52 taken 1 times.
✗ Branch 53 not taken.
✓ Branch 55 taken 1 times.
✗ Branch 56 not taken.
✓ Branch 58 taken 1 times.
✗ Branch 59 not taken.
✓ Branch 61 taken 1 times.
✗ Branch 62 not taken.
✓ Branch 66 taken 1 times.
✗ Branch 67 not taken.
✓ Branch 70 taken 1 times.
✗ Branch 71 not taken.
✓ Branch 73 taken 1 times.
✗ Branch 74 not taken.
✓ Branch 77 taken 1 times.
✗ Branch 78 not taken.
✓ Branch 80 taken 1 times.
✗ Branch 81 not taken.
✓ Branch 83 taken 1 times.
✗ Branch 84 not taken.
✓ Branch 86 taken 1 times.
✗ Branch 87 not taken.
✓ Branch 91 taken 1 times.
✗ Branch 92 not taken.
✓ Branch 95 taken 1 times.
✗ Branch 96 not taken.
✓ Branch 98 taken 1 times.
✗ Branch 99 not taken.
✓ Branch 102 taken 1 times.
✗ Branch 103 not taken.
✓ Branch 105 taken 1 times.
✗ Branch 106 not taken.
✓ Branch 108 taken 1 times.
✗ Branch 109 not taken.
✓ Branch 111 taken 1 times.
✗ Branch 112 not taken.
✓ Branch 116 taken 1 times.
✗ Branch 117 not taken.
|
4 | BOOST_AUTO_TEST_CASE(degree2integration) { |
170 | typedef timeParameterization::PiecewisePolynomial<2> QuadPiecewisePolynomial; | ||
171 | |||
172 | 2 | value_type prec = 0.01; // % | |
173 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | QuadPiecewisePolynomial::ParameterMatrix_t M(3, 3); |
174 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | vector_t ts(4); |
175 |
4/8✓ 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.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
|
2 | ts << 0.2, 1.4, 3, 3.1; |
176 | { | ||
177 |
9/18✓ 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.
✓ 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.
|
2 | M << 0, 0.408, 2.424, 0.1, 0.3, 0.2, 0.2, 0.6, 1.5; |
178 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | QuadPiecewisePolynomial P(M, ts); |
179 | |||
180 |
10/20✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 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 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 25 taken 1 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 1 times.
✗ Branch 29 not taken.
✗ Branch 32 not taken.
✓ Branch 33 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(P.value(0.3), |
181 | M(0, 0) + M(1, 0) * 0.3 + M(2, 0) * 0.3 * 0.3, 1e-13); | ||
182 |
9/18✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 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 taken 1 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 1 times.
✗ Branch 26 not taken.
✗ Branch 29 not taken.
✓ Branch 30 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(P.derivative(0.3, 1), M(1, 0) + 2 * M(2, 0) * 0.3, 1e-13); |
183 | 2 | P.polynomialsStartAtZero(true); | |
184 |
10/20✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 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 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 25 taken 1 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 1 times.
✗ Branch 29 not taken.
✗ Branch 32 not taken.
✓ Branch 33 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(P.value(0.3), |
185 | M(0, 0) + M(1, 0) * 0.1 + M(2, 0) * 0.1 * 0.1, 1e-13); | ||
186 |
9/18✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 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 taken 1 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 1 times.
✗ Branch 26 not taken.
✗ Branch 29 not taken.
✓ Branch 30 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(P.derivative(0.3, 1), M(1, 0) + 2 * M(2, 0) * 0.1, 1e-13); |
187 | |||
188 |
2/2✓ Branch 2 taken 3 times.
✓ Branch 3 taken 1 times.
|
8 | for (int i : {1, 2, 3}) |
189 |
10/20✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 3 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 3 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 3 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 3 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 3 times.
✗ Branch 21 not taken.
✓ Branch 25 taken 3 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 3 times.
✗ Branch 29 not taken.
✗ Branch 32 not taken.
✓ Branch 33 taken 3 times.
|
6 | BOOST_CHECK_CLOSE(P.value(ts[i] - 1e-12), P.value(ts[i]), 1e-8); |
190 | |||
191 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | value_type integral = integrate(P); |
192 |
10/20✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 1 times.
✗ Branch 9 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 20 taken 1 times.
✗ Branch 21 not taken.
✓ Branch 25 taken 1 times.
✗ Branch 26 not taken.
✓ Branch 28 taken 1 times.
✗ Branch 29 not taken.
✗ Branch 32 not taken.
✓ Branch 33 taken 1 times.
|
2 | BOOST_CHECK_CLOSE(integral, P.value(ts[3]) - P.value(ts[0]), prec); |
193 | 2 | } | |
194 | 2 | } | |
195 | |||
196 | BOOST_AUTO_TEST_SUITE_END() | ||
197 |