GCC Code Coverage Report


Directory: ./
File: include/hpp/core/configuration-shooter/uniform-tpl.hxx
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 11 14 78.6%
Branches: 9 28 32.1%

Line Branch Exec Source
1 // Copyright (c) 2023 Eureka Robotics
2 // Authors: Joseph Mirabel
3
4 #ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX
5 #define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX
6
7 #include <hpp/core/configuration-shooter/uniform-tpl.hh>
8 #include <hpp/pinocchio/liegroup-space.hh>
9 #include <pinocchio/multibody/model.hpp>
10
11 namespace hpp {
12 namespace core {
13 namespace configurationShooter {
14
15 template <class generator_t>
16 210 void UniformTpl<generator_t>::impl_shoot(Configuration_t& config) const {
17 typedef std::uniform_real_distribution<value_type> distribution_t;
18
19
1/2
✗ Branch 4 not taken.
✓ Branch 5 taken 210 times.
210 if (!robot_->configSpace()->isVectorSpace()) {
20 throw std::invalid_argument(
21 "The device config space must be a vector space"
22 " to use UniformTpl");
23 }
24
25 210 config.resize(robot_->configSize());
26 210 auto const& model = robot_->model();
27
28
2/2
✓ Branch 0 taken 210 times.
✓ Branch 1 taken 210 times.
420 for (size_type i = 0; i < model.nq; ++i) {
29
2/4
✓ Branch 1 taken 210 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 210 times.
✗ Branch 5 not taken.
210 distribution_t distrib(model.lowerPositionLimit[i],
30
1/2
✓ Branch 1 taken 210 times.
✗ Branch 2 not taken.
210 model.upperPositionLimit[i]);
31
2/4
✓ Branch 1 taken 210 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 210 times.
✗ Branch 5 not taken.
210 config[i] = distrib(generator_);
32 }
33 210 auto const& ecs = robot_->extraConfigSpace();
34
1/2
✗ Branch 1 not taken.
✓ Branch 2 taken 210 times.
210 for (size_type i = 0; i < ecs.dimension(); ++i) {
35 distribution_t distrib(ecs.lower(i), ecs.upper(i));
36 config[model.nq + i] = distrib(generator_);
37 }
38 210 }
39
40 } // namespace configurationShooter
41 } // namespace core
42 } // namespace hpp
43
44 #endif // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX
45