GCC Code Coverage Report


Directory: ./
File: tests/time-parameterization.cc
Date: 2024-12-13 16:14:03
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
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4 BOOST_AUTO_TEST_CASE(linear) {
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2 vector_t a(vector_t::Ones(2));
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2 timeParameterization::Polynomial P(a);
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2 BOOST_CHECK_EQUAL(P.value(-1), 0);
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2 BOOST_CHECK_EQUAL(P.value(0), 1);
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2 BOOST_CHECK_EQUAL(P.value(1), 2);
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2 BOOST_CHECK_EQUAL(P.derivative(-1, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivative(0, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivative(1, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(-1, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(-5, 5), 1);
61 2 }
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4 BOOST_AUTO_TEST_CASE(cubic1) {
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2 vector_t a(vector_t::Ones(4));
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2 timeParameterization::Polynomial P(a);
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2 BOOST_CHECK_EQUAL(P.value(-1), 0);
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2 BOOST_CHECK_EQUAL(P.value(0), 1);
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2 BOOST_CHECK_EQUAL(P.value(1), 4);
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2 BOOST_CHECK_EQUAL(P.derivative(-2, 1), 9);
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2 BOOST_CHECK_EQUAL(P.derivative(-1, 1), 2);
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2 BOOST_CHECK_EQUAL(P.derivative(0, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivative(1, 1), 6);
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76 // x_m = - 1 / 3, P'(x_m) = 2/3
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2 BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 6);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(-1, 0), 2);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(-2, -1), 9);
80 2 }
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4 BOOST_AUTO_TEST_CASE(cubic2) {
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2 vector_t a(vector_t::Ones(4));
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2 a[3] = -1;
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2 timeParameterization::Polynomial P(a);
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2 BOOST_CHECK_EQUAL(P.value(-1), 2);
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2 BOOST_CHECK_EQUAL(P.value(0), 1);
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2 BOOST_CHECK_EQUAL(P.value(1), 2);
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2 BOOST_CHECK_EQUAL(P.derivative(-1, 1), -4);
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2 BOOST_CHECK_EQUAL(P.derivative(0, 1), 1);
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2 BOOST_CHECK_EQUAL(P.derivative(1, 1), 0);
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95 // x_m = 1 / 3, P'(x_m) = 4 / 3
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2 BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 4. / 3);
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2 BOOST_CHECK_EQUAL(P.derivativeBound(-1, 0), 4);
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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;
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20002 for (int i = 0; i < N; ++i) {
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20000 integral += P.derivative(i * dt, 1) * dt;
110 }
111 2 return integral;
112 }
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4 BOOST_AUTO_TEST_CASE(degree5integration) {
115 2 value_type prec = 0.01; // %
116
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2 vector_t a(6);
117 {
118
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2 a << 0, 0, 0, 2.10515, -3.83792, 1.86585;
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2 timeParameterization::Polynomial P(a);
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2 value_type integral = integrate(P, 0.822769);
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2 BOOST_CHECK_CLOSE(integral, 0.117251, prec);
122 2 }
123 {
124
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2 a << 0, 0, 0, 1.13097, -1.10773, 0.289323;
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2 timeParameterization::Polynomial P(a);
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2 value_type integral = integrate(P, 1.53147);
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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
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4 BOOST_AUTO_TEST_CASE(linear) {
136 typedef timeParameterization::PiecewisePolynomial<1>
137 LinearPiecewisePolynomial;
138
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2 LinearPiecewisePolynomial::ParameterMatrix_t M(2, 2);
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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
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2 M << 1, 3, 1, -1;
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2 xs << 0, 1, 2;
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2 LinearPiecewisePolynomial P(M, xs);
146
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4 BOOST_CHECK_THROW(P.value(-0.1), std::invalid_argument);
148
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4 BOOST_CHECK_THROW(P.value(2.1), std::invalid_argument);
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2 BOOST_CHECK_EQUAL(P.value(0), 1);
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2 BOOST_CHECK_EQUAL(P.value(1), 2);
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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
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10001 for (int i = 0; i < N; ++i) {
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10000 integral += P.derivative(ts.front() + i * dt, 1) * dt;
165 }
166 1 return integral;
167 }
168
169
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4 BOOST_AUTO_TEST_CASE(degree2integration) {
170 typedef timeParameterization::PiecewisePolynomial<2> QuadPiecewisePolynomial;
171
172 2 value_type prec = 0.01; // %
173
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2 QuadPiecewisePolynomial::ParameterMatrix_t M(3, 3);
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2 vector_t ts(4);
175
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2 ts << 0.2, 1.4, 3, 3.1;
176 {
177
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2 M << 0, 0.408, 2.424, 0.1, 0.3, 0.2, 0.2, 0.6, 1.5;
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2 QuadPiecewisePolynomial P(M, ts);
179
180
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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
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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
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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
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2 BOOST_CHECK_CLOSE(P.derivative(0.3, 1), M(1, 0) + 2 * M(2, 0) * 0.1, 1e-13);
187
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8 for (int i : {1, 2, 3})
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6 BOOST_CHECK_CLOSE(P.value(ts[i] - 1e-12), P.value(ts[i]), 1e-8);
190
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2 value_type integral = integrate(P);
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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