GCC Code Coverage Report

Directory: ./
File: src/core/utils/callbacks.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 82 190 43.2%
Branches: 148 892 16.6%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5 // University of Oxford, Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "crocoddyl/core/utils/callbacks.hpp"
11
12 namespace crocoddyl {
13
14 26 CallbackVerbose::CallbackVerbose(VerboseLevel level, int precision)
15 : CallbackAbstract(),
16 26 level_(level),
17
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 26 separator_(" "),
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 52 separator_short_(" ") {
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 26 set_precision(precision);
20 26 }
21
22 56 CallbackVerbose::~CallbackVerbose() {}
23
24 ✗ VerboseLevel CallbackVerbose::get_level() const { return level_; }
25
26 ✗ void CallbackVerbose::set_level(VerboseLevel level) {
27 ✗ level_ = level;
28 ✗ update_header();
29 }
30
31 ✗ int CallbackVerbose::get_precision() const { return precision_; }
32
33 26 void CallbackVerbose::set_precision(int precision) {
34
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 26 if (precision < 0) throw_pretty("The precision needs to be at least 0.");
35 26 precision_ = precision;
36 26 update_header();
37 26 }
38
39 26 void CallbackVerbose::update_header() {
40 364 auto center_string = [](const std::string& str, int width,
41 bool right_padding = true) {
42 364 const int padding_size = width - static_cast<int>(str.length());
43
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 364 const int padding_left = padding_size > 0 ? padding_size / 2 : 0;
44 364 const int padding_right =
45 364 padding_size % 2 != 0
46
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 364 ? padding_left + 1
47 : padding_left; // If the padding is odd, add additional space
48
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 364 if (right_padding) {
49
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 676 return std::string(padding_left, ' ') + str +
50
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 1014 std::string(padding_right, ' ');
51 } else {
52
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 52 return std::string(padding_left, ' ') + str;
53 }
54 };
55
56 26 header_.clear();
57 // Scientific mode requires a column width of 6 + precision
58 26 const int columnwidth = 6 + precision_;
59
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 26 header_ += "iter" + separator_;
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 26 switch (level_) {
61 ✗ case _0: {
62 ✗ header_ += center_string("cost", columnwidth) + separator_;
63 ✗ header_ += center_string("stop", columnwidth) + separator_;
64 ✗ header_ += center_string("|grad|", columnwidth) + separator_;
65 ✗ header_ += center_string("preg", columnwidth) + separator_;
66 ✗ header_ += center_string("step", 6) + separator_;
67 ✗ header_ += center_string("dV-exp", columnwidth) + separator_;
68 ✗ header_ += center_string("dV", columnwidth, false);
69 ✗ break;
70 }
71 ✗ case _1: {
72 ✗ header_ += center_string("cost", columnwidth) + separator_;
73 ✗ header_ += center_string("merit", columnwidth) + separator_;
74 ✗ header_ += center_string("stop", columnwidth) + separator_;
75 ✗ header_ += center_string("|grad|", columnwidth) + separator_;
76 ✗ header_ += center_string("preg", columnwidth) + separator_;
77 ✗ header_ += center_string("step", 6) + separator_;
78 ✗ header_ += center_string("||ffeas||", columnwidth) + separator_;
79 ✗ header_ += center_string("dV-exp", columnwidth) + separator_;
80 ✗ header_ += center_string("dV", columnwidth, false);
81 ✗ break;
82 }
83 ✗ case _2: {
84 ✗ header_ += center_string("cost", columnwidth) + separator_;
85 ✗ header_ += center_string("merit", columnwidth) + separator_;
86 ✗ header_ += center_string("stop", columnwidth) + separator_;
87 ✗ header_ += center_string("|grad|", columnwidth) + separator_;
88 ✗ header_ += center_string("preg", columnwidth) + separator_;
89 ✗ header_ += center_string("dreg", columnwidth) + separator_;
90 ✗ header_ += center_string("step", 6) + separator_;
91 ✗ header_ += center_string("||ffeas||", columnwidth) + separator_;
92 ✗ header_ += center_string("dV-exp", columnwidth) + separator_;
93 ✗ header_ += center_string("dV", columnwidth, false);
94 ✗ break;
95 }
96 ✗ case _3: {
97 ✗ header_ += center_string("cost", columnwidth) + separator_;
98 ✗ header_ += center_string("merit", columnwidth) + separator_;
99 ✗ header_ += center_string("stop", columnwidth) + separator_;
100 ✗ header_ += center_string("|grad|", columnwidth) + separator_;
101 ✗ header_ += center_string("preg", columnwidth) + separator_;
102 ✗ header_ += center_string("dreg", columnwidth) + separator_;
103 ✗ header_ += center_string("step", 6) + separator_;
104 ✗ header_ += center_string("||ffeas||", columnwidth) + separator_;
105 ✗ header_ += center_string("||gfeas||", columnwidth) + separator_;
106 ✗ header_ += center_string("||hfeas||", columnwidth) + separator_;
107 ✗ header_ += center_string("dV-exp", columnwidth) + separator_;
108 ✗ header_ += center_string("dV", columnwidth, false);
109 ✗ break;
110 }
111 26 case _4: {
112
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 26 header_ += center_string("cost", columnwidth) + separator_;
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 26 header_ += center_string("merit", columnwidth) + separator_;
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 26 header_ += center_string("stop", columnwidth) + separator_;
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 26 header_ += center_string("|grad|", columnwidth) + separator_;
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 26 header_ += center_string("preg", columnwidth) + separator_;
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 26 header_ += center_string("dreg", columnwidth) + separator_;
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 26 header_ += center_string("step", 6) + separator_;
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 26 header_ += center_string("||ffeas||", columnwidth) + separator_;
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 26 header_ += center_string("||gfeas||", columnwidth) + separator_;
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 26 header_ += center_string("||hfeas||", columnwidth) + separator_;
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 26 header_ += center_string("dV-exp", columnwidth) + separator_;
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 26 header_ += center_string("dV", columnwidth) + separator_;
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 26 header_ += center_string("dPhi-exp", columnwidth) + separator_;
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 26 header_ += center_string("dPhi", columnwidth, false);
126 26 break;
127 }
128 26 default: {
129 }
130 }
131 26 }
132
133 106 void CallbackVerbose::operator()(SolverAbstract& solver) {
134
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 106 if (solver.get_iter() % 10 == 0) {
135
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 45 std::cout << header_ << std::endl;
136 }
137 1060 auto space_sign = [this](const double value) {
138
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 530 std::stringstream stream;
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 530 if (value >= 0.) {
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 463 stream << " ";
141 } else {
142
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 67 stream << "-";
143 }
144
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 530 stream << std::scientific << std::setprecision(precision_) << abs(value);
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 1060 return stream.str();
146 530 };
147
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 106 std::cout << std::setw(4) << solver.get_iter() << separator_; // iter
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 106 switch (level_) {
150 ✗ case _0: {
151 ✗ std::cout << std::scientific << std::setprecision(precision_)
152 ✗ << solver.get_cost() << separator_; // cost
153 ✗ std::cout << solver.get_stop() << separator_; // stop
154 ✗ std::cout << abs(solver.get_d()[0]) << separator_; // grad
155 ✗ std::cout << solver.get_preg() << separator_; // preg
156 ✗ std::cout << std::fixed << std::setprecision(4) << solver.get_steplength()
157 ✗ << separator_short_; // step
158 ✗ std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp
159 ✗ std::cout << space_sign(solver.get_dV()); // dV
160 ✗ break;
161 }
162 ✗ case _1: {
163 ✗ std::cout << std::scientific << std::setprecision(precision_)
164 ✗ << solver.get_cost() << separator_short_; // cost
165 ✗ std::cout << space_sign(solver.get_merit()) << separator_; // merit
166 ✗ std::cout << solver.get_stop() << separator_; // stop
167 ✗ std::cout << abs(solver.get_d()[0]) << separator_; // grad
168 ✗ std::cout << solver.get_preg() << separator_; // preg
169 ✗ std::cout << std::fixed << std::setprecision(4) << solver.get_steplength()
170 ✗ << separator_; // step
171 ✗ std::cout << std::scientific << std::setprecision(precision_)
172 ✗ << solver.get_ffeas() << separator_short_; // ffeas
173 ✗ std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp
174 ✗ std::cout << space_sign(solver.get_dV()); // dV
175 ✗ break;
176 }
177 ✗ case _2: {
178 ✗ std::cout << std::scientific << std::setprecision(precision_)
179 ✗ << solver.get_cost() << separator_short_; // cost
180 ✗ std::cout << space_sign(solver.get_merit()) << separator_; // merit
181 ✗ std::cout << solver.get_stop() << separator_; // stop
182 ✗ std::cout << abs(solver.get_d()[0]) << separator_; // grad
183 ✗ std::cout << solver.get_preg() << separator_; // preg
184 ✗ std::cout << solver.get_dreg() << separator_; // dreg
185 ✗ std::cout << std::fixed << std::setprecision(4) << solver.get_steplength()
186 ✗ << separator_; // step
187 ✗ std::cout << std::scientific << std::setprecision(precision_)
188 ✗ << solver.get_ffeas() << separator_short_; // ffeas
189 ✗ std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp
190 ✗ std::cout << space_sign(solver.get_dV()); // dV
191 ✗ break;
192 }
193 ✗ case _3: {
194 ✗ std::cout << std::scientific << std::setprecision(precision_)
195 ✗ << solver.get_cost() << separator_short_; // cost
196 ✗ std::cout << space_sign(solver.get_merit()) << separator_; // merit
197 ✗ std::cout << solver.get_stop() << separator_; // stop
198 ✗ std::cout << abs(solver.get_d()[0]) << separator_; // grad
199 ✗ std::cout << solver.get_preg() << separator_; // preg
200 ✗ std::cout << solver.get_dreg() << separator_; // dreg
201 ✗ std::cout << std::fixed << std::setprecision(4) << solver.get_steplength()
202 ✗ << separator_; // step
203 ✗ std::cout << std::scientific << std::setprecision(precision_)
204 ✗ << solver.get_ffeas() << separator_; // ffeas
205 ✗ std::cout << solver.get_gfeas() << separator_; // gfeas
206 ✗ std::cout << solver.get_hfeas() << separator_short_; // hfeas
207 ✗ std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp
208 ✗ std::cout << space_sign(solver.get_dV()); // dV
209 ✗ break;
210 }
211 106 case _4: {
212
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 106 std::cout << std::scientific << std::setprecision(precision_)
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 106 << solver.get_cost() << separator_short_; // cost
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 106 std::cout << space_sign(solver.get_merit()) << separator_; // merit
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 106 std::cout << solver.get_stop() << separator_; // stop
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 106 std::cout << abs(solver.get_d()[0]) << separator_; // grad
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 106 std::cout << solver.get_preg() << separator_; // preg
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 106 std::cout << solver.get_dreg() << separator_; // dreg
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 106 std::cout << std::fixed << std::setprecision(4) << solver.get_steplength()
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 106 << separator_; // step
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 106 std::cout << std::scientific << std::setprecision(precision_)
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 106 << solver.get_ffeas() << separator_; // ffeas
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 106 std::cout << solver.get_gfeas() << separator_; // gfeas
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 106 std::cout << solver.get_hfeas() << separator_short_; // hfeas
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 106 std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp
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 106 std::cout << space_sign(solver.get_dV()) << separator_short_; // dV
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 212 std::cout << space_sign(solver.get_dPhiexp())
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 106 << separator_short_; // dPhiexp
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 106 std::cout << space_sign(solver.get_dPhi()); // dPhi
230 106 break;
231 }
232 106 default: {
233 }
234 }
235
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 106 std::cout << std::endl;
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 106 std::cout << std::flush;
237 106 }
238
239 } // namespace crocoddyl
240