GCC Code Coverage Report

Directory: ./
File: unittest/factory/impulse.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 72 80 90.0%
Branches: 35 63 55.6%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "impulse.hpp"
11
12 #include "crocoddyl/multibody/impulses/impulse-3d.hpp"
13 #include "crocoddyl/multibody/impulses/impulse-6d.hpp"
14
15 namespace crocoddyl {
16 namespace unittest {
17
18 const std::vector<ImpulseModelTypes::Type> ImpulseModelTypes::all(
19 ImpulseModelTypes::init_all());
20
21 30 std::ostream& operator<<(std::ostream& os,
22 const ImpulseModelTypes::Type& type) {
23
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 30 switch (type) {
24 5 case ImpulseModelTypes::ImpulseModel3D_LOCAL:
25 5 os << "ImpulseModel3D_LOCAL";
26 5 break;
27 5 case ImpulseModelTypes::ImpulseModel3D_WORLD:
28 5 os << "ImpulseModel3D_WORLD";
29 5 break;
30 5 case ImpulseModelTypes::ImpulseModel3D_LWA:
31 5 os << "ImpulseModel3D_LWA";
32 5 break;
33 5 case ImpulseModelTypes::ImpulseModel6D_LOCAL:
34 5 os << "ImpulseModel6D_LOCAL";
35 5 break;
36 5 case ImpulseModelTypes::ImpulseModel6D_WORLD:
37 5 os << "ImpulseModel6D_WORLD";
38 5 break;
39 5 case ImpulseModelTypes::ImpulseModel6D_LWA:
40 5 os << "ImpulseModel6D_LWA";
41 5 break;
42 ✗ case ImpulseModelTypes::NbImpulseModelTypes:
43 ✗ os << "NbImpulseModelTypes";
44 ✗ break;
45 ✗ default:
46 ✗ os << "Unknown type";
47 ✗ break;
48 }
49 30 return os;
50 }
51
52 403 ImpulseModelFactory::ImpulseModelFactory() {}
53 403 ImpulseModelFactory::~ImpulseModelFactory() {}
54
55 403 std::shared_ptr<crocoddyl::ImpulseModelAbstract> ImpulseModelFactory::create(
56 ImpulseModelTypes::Type impulse_type, PinocchioModelTypes::Type model_type,
57 const std::string frame_name) const {
58 403 std::shared_ptr<crocoddyl::ImpulseModelAbstract> impulse;
59
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 403 PinocchioModelFactory model_factory(model_type);
60 std::shared_ptr<crocoddyl::StateMultibody> state =
61
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 403 std::make_shared<crocoddyl::StateMultibody>(model_factory.create());
62 403 std::shared_ptr<crocoddyl::ContactModelAbstract> contact;
63 403 std::size_t frame_id = 0;
64
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 403 if (frame_name == "") {
65
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 189 frame_id = model_factory.get_frame_ids()[0];
66 } else {
67
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 214 frame_id = state->get_pinocchio()->getFrameId(frame_name);
68 }
69
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 403 switch (impulse_type) {
70 103 case ImpulseModelTypes::ImpulseModel3D_LOCAL:
71 103 impulse = std::make_shared<crocoddyl::ImpulseModel3D>(
72
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 103 state, frame_id, pinocchio::ReferenceFrame::LOCAL);
73 103 break;
74 50 case ImpulseModelTypes::ImpulseModel3D_WORLD:
75 50 impulse = std::make_shared<crocoddyl::ImpulseModel3D>(
76
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 50 state, frame_id, pinocchio::ReferenceFrame::WORLD);
77 50 break;
78 50 case ImpulseModelTypes::ImpulseModel3D_LWA:
79 50 impulse = std::make_shared<crocoddyl::ImpulseModel3D>(
80
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 50 state, frame_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED);
81 50 break;
82 107 case ImpulseModelTypes::ImpulseModel6D_LOCAL:
83 107 impulse = std::make_shared<crocoddyl::ImpulseModel6D>(
84
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 107 state, frame_id, pinocchio::ReferenceFrame::LOCAL);
85 107 break;
86 68 case ImpulseModelTypes::ImpulseModel6D_WORLD:
87 68 impulse = std::make_shared<crocoddyl::ImpulseModel6D>(
88
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 68 state, frame_id, pinocchio::ReferenceFrame::WORLD);
89 68 break;
90 25 case ImpulseModelTypes::ImpulseModel6D_LWA:
91 25 impulse = std::make_shared<crocoddyl::ImpulseModel6D>(
92
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 25 state, frame_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED);
93 25 break;
94 ✗ default:
95 ✗ throw_pretty(__FILE__ ": Wrong ImpulseModelTypes::Type given");
96 break;
97 }
98 806 return impulse;
99 403 }
100
101 39 std::shared_ptr<crocoddyl::ImpulseModelAbstract> create_random_impulse() {
102 static bool once = true;
103
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 39 if (once) {
104 1 srand((unsigned)time(NULL));
105 1 once = false;
106 }
107 39 std::shared_ptr<crocoddyl::ImpulseModelAbstract> impulse;
108
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 39 ImpulseModelFactory factory;
109
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 39 if (rand() % 2 == 0) {
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 40 impulse = factory.create(ImpulseModelTypes::ImpulseModel3D_LOCAL,
111 20 PinocchioModelTypes::RandomHumanoid);
112 } else {
113
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 38 impulse = factory.create(ImpulseModelTypes::ImpulseModel6D_LOCAL,
114 19 PinocchioModelTypes::RandomHumanoid);
115 }
116 78 return impulse;
117 39 }
118
119 } // namespace unittest
120 } // namespace crocoddyl
121