GCC Code Coverage Report

Directory:	./
File:	tests/device.cc
Date:	2025-05-04 12:09:19

	Exec	Total	Coverage
Lines:	82	82	100.0%
Branches:	350	724	48.3%

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 tframe
30
31			#include <boost/archive/xml_iarchive.hpp>
32			#include <boost/archive/xml_oarchive.hpp>
33			#include <boost/test/unit_test.hpp>
34			#include <hpp/pinocchio/configuration.hh>
35			#include <hpp/pinocchio/device.hh>
36			#include <hpp/pinocchio/fwd.hh>
37			#include <hpp/pinocchio/humanoid-robot.hh>
38			#include <hpp/pinocchio/joint-collection.hh>
39			#include <hpp/pinocchio/joint.hh>
40			#include <hpp/pinocchio/liegroup-space.hh>
41			#include <hpp/pinocchio/serialization.hh>
42			#include <hpp/pinocchio/simple-device.hh>
43			#include <hpp/pinocchio/urdf/util.hh>
44			#include <pinocchio/algorithm/check.hpp>
45			#include <pinocchio/fwd.hpp>
46			#include <pinocchio/multibody/model.hpp>
47			#include <sstream>
48
49			using namespace hpp::pinocchio;
50
51		3	void displayAABB(const coal::AABB& aabb) {
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53			<< aabb.min_.transpose() << '\n'
54			<< aabb.max_.transpose());
55		3	}
56
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58	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
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60
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63	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::AABB aabb0 = robot->computeAABB();
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	displayAABB(aabb0);
65
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68	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::AABB aabb1 = robot->computeAABB();
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	displayAABB(aabb1);
70
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73	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	coal::AABB aabb2 = robot->computeAABB();
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	displayAABB(aabb2);
75		2	}
76			/* -------------------------------------------------------------------------- */
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78		2	DevicePtr_t robot;
79		2	LiegroupSpacePtr_t space;
80
81	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot = Device::create("robot");
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83
84	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot = unittest::makeDevice(unittest::HumanoidSimple);
85	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	space = LiegroupSpace::createCopy(robot->configSpace());
86	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	space->mergeVectorSpaces();
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88
89	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	space = LiegroupSpace::createCopy(robot->RnxSOnConfigSpace());
90	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	space->mergeVectorSpaces();
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92
93	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->setDimensionExtraConfigSpace(3);
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96
97	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	space = LiegroupSpace::createCopy(robot->configSpace());
98	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	space->mergeVectorSpaces();
99	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 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_EQUAL(space->name(), "SE(3)*R^29");
100
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103	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	4	robot->neutralConfiguration());
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105
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108
109	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot = unittest::makeDevice(unittest::CarLike);
110	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	space = LiegroupSpace::createCopy(robot->configSpace());
111	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	space->mergeVectorSpaces();
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113
114	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot = unittest::makeDevice(unittest::ManipulatorArm2);
115	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	space = LiegroupSpace::createCopy(robot->configSpace());
116	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	space->mergeVectorSpaces();
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118		2	}
119
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121			std::string urdf(
122			"<robot name='test'>"
123			"<link name='base_link'/>"
124			"<link name='link1'/>"
125			"<joint name='joint1' type='revolute'>"
126			" <parent link='base_link'/>"
127			" <child link='link1'/>"
128			" <limit effort='30' velocity='1.0' />"
129			"</joint>"
130	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>");
131			std::string srdf(
132			"<robot name='test'>"
133			"<group name='all'/>"
134			"<group_state name='half_sitting' group='all'>"
135			"<joint name='joint1' value='1.' />"
136			"</group_state>"
137	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>");
138
139	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device = Device::create("test");
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143			device->configSize());
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145			"neutral configuration - wrong results");
146
147			/*
148			// TODO When neutral configuration can be read from XML string, this test
149			should be updated in order to
150			// read a URDF and SRDF string rather than a file in a different package.
151			Eigen::VectorXd expected(device->configSize());
152			expected.setOnes();
153
154			const Model& model = device->model();
155			Model::ConfigVectorMap::const_iterator half_sitting =
156			model.referenceConfigurations.find ("half_sitting");
157			BOOST_REQUIRE(half_sitting != model.referenceConfigurations.end());
158			BOOST_CHECK_MESSAGE(half_sitting->second.isApprox (expected, 1e-12),
159			"reference configuration - wrong results\ngot: "
160			<< half_sitting->second.transpose() << "\nexpected: "
161			<< expected.transpose());
162			*/
163		2	}
164
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166	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device = unittest::makeDevice(unittest::HumanoidRomeo);
167	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	JointPtr_t joint = Joint::create(device, 1);
168
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170			{
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::serialization::xml_oarchive oa(ss);
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	oa.initialize();
173	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	oa << boost::serialization::make_nvp("device", device);
174	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	oa << boost::serialization::make_nvp("joint", joint);
175		2	}
176
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178
179		2	DevicePtr_t device2;
180		2	JointPtr_t joint2;
181			{
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::serialization::xml_iarchive ia(ss);
183	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ia.insert(device->name(), device.get());
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ia.initialize();
185	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ia >> boost::serialization::make_nvp("device", device2);
186	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ia >> boost::serialization::make_nvp("joint", joint2);
187		2	}
188
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191		2	}
192