GCC Code Coverage Report

Directory: ./
File: tests/joint-bounds.cc
Date: 2025-05-04 12:09:19
Exec Total Coverage
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1 ///
2 /// Copyright (c) 2019 CNRS
3 /// Author: Florent Lamiraux
4 ///
5 ///
6
7 // Redistribution and use in source and binary forms, with or without
8 // modification, are permitted provided that the following conditions are
9 // met:
10 //
11 // 1. Redistributions of source code must retain the above copyright
12 // notice, this list of conditions and the following disclaimer.
13 //
14 // 2. Redistributions in binary form must reproduce the above copyright
15 // notice, this list of conditions and the following disclaimer in the
16 // documentation and/or other materials provided with the distribution.
17 //
18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
20 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
21 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
22 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
23 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
24 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
25 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
26 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
29 // DAMAGE.
30
31 // This test
32 // - sets bounds and checks that they are stored correctly
33
34 #define BOOST_TEST_MODULE joint - bounds
35
36 #include <boost/test/unit_test.hpp>
37 #include <hpp/pinocchio/device.hh>
38 #include <hpp/pinocchio/humanoid-robot.hh>
39 #include <hpp/pinocchio/joint.hh>
40 #include <hpp/pinocchio/simple-device.hh>
41
42 using hpp::pinocchio::DevicePtr_t;
43 using hpp::pinocchio::JointPtr_t;
44 using hpp::pinocchio::size_type;
45 using hpp::pinocchio::vector_t;
46 using hpp::pinocchio::unittest::HumanoidSimple;
47 using hpp::pinocchio::unittest::makeDevice;
48
49
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 4 BOOST_AUTO_TEST_CASE(joint_bounds) {
50 2 DevicePtr_t robot;
51
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 2 robot = makeDevice(HumanoidSimple);
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 2 size_type nJoints(robot->nbJoints());
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 56 for (size_type i = 0; i < nJoints; ++i) {
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 54 JointPtr_t joint(robot->jointAt(i));
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 54 BOOST_CHECK(joint == joint);
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 54 BOOST_CHECK(*joint == *robot->jointAt(i));
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 54 if (i > 0) BOOST_CHECK(*joint != *robot->jointAt(i - 1));
58
59 // Set bounds
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 54 vector_t l0(joint->configSize());
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 54 vector_t u0(joint->configSize());
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 54 l0.fill(-1.);
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 54 u0.fill(1.);
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 54 joint->lowerBounds(l0);
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 54 joint->upperBounds(u0);
66 // Get bounds
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 54 vector_t l1(joint->configSize());
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 54 vector_t u1(joint->configSize());
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 120 for (size_type i = 0; i < joint->configSize(); ++i) {
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 66 l1[i] = joint->lowerBound(i);
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 66 u1[i] = joint->upperBound(i);
72 }
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 54 BOOST_CHECK(l0 == l1);
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 54 BOOST_CHECK(u0 == u1);
75 54 }
76 2 }
77