GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#include "activation.hpp"
10
11			#include "../random_generator.hpp"
12			#include "crocoddyl/core/activations/2norm-barrier.hpp"
13			#include "crocoddyl/core/activations/quadratic-barrier.hpp"
14			#include "crocoddyl/core/activations/quadratic-flat-exp.hpp"
15			#include "crocoddyl/core/activations/quadratic-flat-log.hpp"
16			#include "crocoddyl/core/activations/quadratic.hpp"
17			#include "crocoddyl/core/activations/smooth-1norm.hpp"
18			#include "crocoddyl/core/activations/smooth-2norm.hpp"
19			#include "crocoddyl/core/activations/weighted-quadratic-barrier.hpp"
20			#include "crocoddyl/core/activations/weighted-quadratic.hpp"
21
22			namespace crocoddyl {
23			namespace unittest {
24
25			const std::vector<ActivationModelTypes::Type> ActivationModelTypes::all(
26			ActivationModelTypes::init_all());
27
28		✗	std::ostream& operator<<(std::ostream& os, ActivationModelTypes::Type type) {
29		✗	switch (type) {
30		✗	case ActivationModelTypes::ActivationModelQuad:
31		✗	os << "ActivationModelQuad";
32		✗	break;
33		✗	case ActivationModelTypes::ActivationModelQuadFlatExp:
34		✗	os << "ActivationModelQuadFlatExp";
35		✗	break;
36		✗	case ActivationModelTypes::ActivationModelQuadFlatLog:
37		✗	os << "ActivationModelQuadFlatLog";
38		✗	break;
39		✗	case ActivationModelTypes::ActivationModelSmooth1Norm:
40		✗	os << "ActivationModelSmooth1Norm";
41		✗	break;
42		✗	case ActivationModelTypes::ActivationModelSmooth2Norm:
43		✗	os << "ActivationModelSmooth2Norm";
44		✗	break;
45		✗	case ActivationModelTypes::ActivationModelWeightedQuad:
46		✗	os << "ActivationModelWeightedQuad";
47		✗	break;
48		✗	case ActivationModelTypes::ActivationModelQuadraticBarrier:
49		✗	os << "ActivationModelQuadraticBarrier";
50		✗	break;
51		✗	case ActivationModelTypes::ActivationModelWeightedQuadraticBarrier:
52		✗	os << "ActivationModelWeightedQuadraticBarrier";
53		✗	break;
54		✗	case ActivationModelTypes::ActivationModel2NormBarrier:
55		✗	os << "ActivationModel2NormBarrier";
56		✗	break;
57		✗	case ActivationModelTypes::NbActivationModelTypes:
58		✗	os << "NbActivationModelTypes";
59		✗	break;
60		✗	default:
61		✗	break;
62			}
63		✗	return os;
64			}
65
66		✗	ActivationModelFactory::ActivationModelFactory() {}
67		✗	ActivationModelFactory::~ActivationModelFactory() {}
68
69			std::shared_ptr<crocoddyl::ActivationModelAbstract>
70		✗	ActivationModelFactory::create(ActivationModelTypes::Type activation_type,
71			std::size_t nr) const {
72		✗	std::shared_ptr<crocoddyl::ActivationModelAbstract> activation;
73		✗	Eigen::VectorXd lb = Eigen::VectorXd::Random(nr);
74			Eigen::VectorXd ub =
75		✗	lb + Eigen::VectorXd::Ones(nr) + Eigen::VectorXd::Random(nr);
76		✗	Eigen::VectorXd weights = 1. * Eigen::VectorXd::Random(nr);
77		✗	double alpha = fabs(Eigen::VectorXd::Random(1)[0]);
78		✗	double eps = fabs(Eigen::VectorXd::Random(1)[0]);
79		✗	bool hessian = random_boolean();
80
81		✗	switch (activation_type) {
82		✗	case ActivationModelTypes::ActivationModelQuad:
83		✗	activation = std::make_shared<crocoddyl::ActivationModelQuad>(nr);
84		✗	break;
85		✗	case ActivationModelTypes::ActivationModelQuadFlatExp:
86			activation =
87		✗	std::make_shared<crocoddyl::ActivationModelQuadFlatExp>(nr, alpha);
88		✗	break;
89		✗	case ActivationModelTypes::ActivationModelQuadFlatLog:
90			activation =
91		✗	std::make_shared<crocoddyl::ActivationModelQuadFlatLog>(nr, alpha);
92		✗	break;
93		✗	case ActivationModelTypes::ActivationModelSmooth1Norm:
94			activation =
95		✗	std::make_shared<crocoddyl::ActivationModelSmooth1Norm>(nr, eps);
96		✗	break;
97		✗	case ActivationModelTypes::ActivationModelSmooth2Norm:
98			activation =
99		✗	std::make_shared<crocoddyl::ActivationModelSmooth2Norm>(nr, eps);
100		✗	break;
101		✗	case ActivationModelTypes::ActivationModelWeightedQuad:
102			activation =
103		✗	std::make_shared<crocoddyl::ActivationModelWeightedQuad>(weights);
104		✗	break;
105		✗	case ActivationModelTypes::ActivationModelQuadraticBarrier:
106		✗	activation = std::make_shared<crocoddyl::ActivationModelQuadraticBarrier>(
107		✗	crocoddyl::ActivationBounds(lb, ub));
108		✗	break;
109		✗	case ActivationModelTypes::ActivationModelWeightedQuadraticBarrier:
110			activation =
111		✗	std::make_shared<crocoddyl::ActivationModelWeightedQuadraticBarrier>(
112		✗	crocoddyl::ActivationBounds(lb, ub), weights);
113		✗	break;
114		✗	case ActivationModelTypes::ActivationModel2NormBarrier:
115		✗	activation = std::make_shared<crocoddyl::ActivationModel2NormBarrier>(
116		✗	nr, alpha, hessian);
117		✗	break;
118		✗	default:
119		✗	throw_pretty(__FILE__ ":\n Construct wrong ActivationModelTypes::Type");
120			break;
121			}
122		✗	return activation;
123		✗	}
124
125			} // namespace unittest
126			} // namespace crocoddyl
127