GCC Code Coverage Report

Directory: ./
File: unittest/factory/activation.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 73 80 91.2%
Branches: 44 81 54.3%
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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 #include "crocoddyl/core/utils/exception.hpp"
22
23 namespace crocoddyl {
24 namespace unittest {
25
26 const std::vector<ActivationModelTypes::Type> ActivationModelTypes::all(
27 ActivationModelTypes::init_all());
28
29 423 std::ostream& operator<<(std::ostream& os, ActivationModelTypes::Type type) {
30
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 423 switch (type) {
31 52 case ActivationModelTypes::ActivationModelQuad:
32 52 os << "ActivationModelQuad";
33 52 break;
34 52 case ActivationModelTypes::ActivationModelQuadFlatExp:
35 52 os << "ActivationModelQuadFlatExp";
36 52 break;
37 52 case ActivationModelTypes::ActivationModelQuadFlatLog:
38 52 os << "ActivationModelQuadFlatLog";
39 52 break;
40 52 case ActivationModelTypes::ActivationModelSmooth1Norm:
41 52 os << "ActivationModelSmooth1Norm";
42 52 break;
43 52 case ActivationModelTypes::ActivationModelSmooth2Norm:
44 52 os << "ActivationModelSmooth2Norm";
45 52 break;
46 52 case ActivationModelTypes::ActivationModelWeightedQuad:
47 52 os << "ActivationModelWeightedQuad";
48 52 break;
49 37 case ActivationModelTypes::ActivationModelQuadraticBarrier:
50 37 os << "ActivationModelQuadraticBarrier";
51 37 break;
52 37 case ActivationModelTypes::ActivationModelWeightedQuadraticBarrier:
53 37 os << "ActivationModelWeightedQuadraticBarrier";
54 37 break;
55 37 case ActivationModelTypes::ActivationModel2NormBarrier:
56 37 os << "ActivationModel2NormBarrier";
57 37 break;
58 ✗ case ActivationModelTypes::NbActivationModelTypes:
59 ✗ os << "NbActivationModelTypes";
60 ✗ break;
61 ✗ default:
62 ✗ break;
63 }
64 423 return os;
65 }
66
67 4452 ActivationModelFactory::ActivationModelFactory() {}
68 4452 ActivationModelFactory::~ActivationModelFactory() {}
69
70 boost::shared_ptr<crocoddyl::ActivationModelAbstract>
71 4452 ActivationModelFactory::create(ActivationModelTypes::Type activation_type,
72 std::size_t nr) const {
73 4452 boost::shared_ptr<crocoddyl::ActivationModelAbstract> activation;
74
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 4452 Eigen::VectorXd lb = Eigen::VectorXd::Random(nr);
75 Eigen::VectorXd ub =
76
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 4452 lb + Eigen::VectorXd::Ones(nr) + Eigen::VectorXd::Random(nr);
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 4452 Eigen::VectorXd weights = 1. * Eigen::VectorXd::Random(nr);
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 4452 double alpha = fabs(Eigen::VectorXd::Random(1)[0]);
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 4452 double eps = fabs(Eigen::VectorXd::Random(1)[0]);
80
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 4452 bool hessian = random_boolean();
81
82
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 4452 switch (activation_type) {
83 2793 case ActivationModelTypes::ActivationModelQuad:
84
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 2793 activation = boost::make_shared<crocoddyl::ActivationModelQuad>(nr);
85 2793 break;
86 222 case ActivationModelTypes::ActivationModelQuadFlatExp:
87 activation =
88
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 222 boost::make_shared<crocoddyl::ActivationModelQuadFlatExp>(nr, alpha);
89 222 break;
90 222 case ActivationModelTypes::ActivationModelQuadFlatLog:
91 activation =
92
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 222 boost::make_shared<crocoddyl::ActivationModelQuadFlatLog>(nr, alpha);
93 222 break;
94 222 case ActivationModelTypes::ActivationModelSmooth1Norm:
95 activation =
96
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 222 boost::make_shared<crocoddyl::ActivationModelSmooth1Norm>(nr, eps);
97 222 break;
98 222 case ActivationModelTypes::ActivationModelSmooth2Norm:
99 activation =
100
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 222 boost::make_shared<crocoddyl::ActivationModelSmooth2Norm>(nr, eps);
101 222 break;
102 222 case ActivationModelTypes::ActivationModelWeightedQuad:
103 activation =
104
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 222 boost::make_shared<crocoddyl::ActivationModelWeightedQuad>(weights);
105 222 break;
106 183 case ActivationModelTypes::ActivationModelQuadraticBarrier:
107 activation =
108
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 366 boost::make_shared<crocoddyl::ActivationModelQuadraticBarrier>(
109
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 549 crocoddyl::ActivationBounds(lb, ub));
110 183 break;
111 183 case ActivationModelTypes::ActivationModelWeightedQuadraticBarrier:
112 activation = boost::make_shared<
113
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 366 crocoddyl::ActivationModelWeightedQuadraticBarrier>(
114
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 549 crocoddyl::ActivationBounds(lb, ub), weights);
115 183 break;
116 183 case ActivationModelTypes::ActivationModel2NormBarrier:
117
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 366 activation = boost::make_shared<crocoddyl::ActivationModel2NormBarrier>(
118 183 nr, alpha, hessian);
119 183 break;
120 ✗ default:
121 ✗ throw_pretty(__FILE__ ":\n Construct wrong ActivationModelTypes::Type");
122 break;
123 }
124 8904 return activation;
125 4452 }
126
127 } // namespace unittest
128 } // namespace crocoddyl
129