GCC Code Coverage Report

Directory: ./
File: unittest/factory/impulse.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 72 80 90.0%
Branches: 34 61 55.7%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, 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/core/utils/exception.hpp"
13 #include "crocoddyl/multibody/impulses/impulse-3d.hpp"
14 #include "crocoddyl/multibody/impulses/impulse-6d.hpp"
15
16 namespace crocoddyl {
17 namespace unittest {
18
19 const std::vector<ImpulseModelTypes::Type> ImpulseModelTypes::all(
20 ImpulseModelTypes::init_all());
21
22 30 std::ostream& operator<<(std::ostream& os,
23 const ImpulseModelTypes::Type& type) {
24
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 30 switch (type) {
25 5 case ImpulseModelTypes::ImpulseModel3D_LOCAL:
26 5 os << "ImpulseModel3D_LOCAL";
27 5 break;
28 5 case ImpulseModelTypes::ImpulseModel3D_WORLD:
29 5 os << "ImpulseModel3D_WORLD";
30 5 break;
31 5 case ImpulseModelTypes::ImpulseModel3D_LWA:
32 5 os << "ImpulseModel3D_LWA";
33 5 break;
34 5 case ImpulseModelTypes::ImpulseModel6D_LOCAL:
35 5 os << "ImpulseModel6D_LOCAL";
36 5 break;
37 5 case ImpulseModelTypes::ImpulseModel6D_WORLD:
38 5 os << "ImpulseModel6D_WORLD";
39 5 break;
40 5 case ImpulseModelTypes::ImpulseModel6D_LWA:
41 5 os << "ImpulseModel6D_LWA";
42 5 break;
43 ✗ case ImpulseModelTypes::NbImpulseModelTypes:
44 ✗ os << "NbImpulseModelTypes";
45 ✗ break;
46 ✗ default:
47 ✗ os << "Unknown type";
48 ✗ break;
49 }
50 30 return os;
51 }
52
53 403 ImpulseModelFactory::ImpulseModelFactory() {}
54 403 ImpulseModelFactory::~ImpulseModelFactory() {}
55
56 403 boost::shared_ptr<crocoddyl::ImpulseModelAbstract> ImpulseModelFactory::create(
57 ImpulseModelTypes::Type impulse_type, PinocchioModelTypes::Type model_type,
58 const std::string frame_name) const {
59 403 boost::shared_ptr<crocoddyl::ImpulseModelAbstract> impulse;
60
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 403 PinocchioModelFactory model_factory(model_type);
61 boost::shared_ptr<crocoddyl::StateMultibody> state =
62
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 403 boost::make_shared<crocoddyl::StateMultibody>(model_factory.create());
63 403 boost::shared_ptr<crocoddyl::ContactModelAbstract> contact;
64 403 std::size_t frame_id = 0;
65
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 403 if (frame_name == "") {
66
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 189 frame_id = model_factory.get_frame_ids()[0];
67 } else {
68
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 214 frame_id = state->get_pinocchio()->getFrameId(frame_name);
69 }
70
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 403 switch (impulse_type) {
71 100 case ImpulseModelTypes::ImpulseModel3D_LOCAL:
72 100 impulse = boost::make_shared<crocoddyl::ImpulseModel3D>(
73
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 100 state, frame_id, pinocchio::ReferenceFrame::LOCAL);
74 100 break;
75 50 case ImpulseModelTypes::ImpulseModel3D_WORLD:
76 50 impulse = boost::make_shared<crocoddyl::ImpulseModel3D>(
77
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 50 state, frame_id, pinocchio::ReferenceFrame::WORLD);
78 50 break;
79 50 case ImpulseModelTypes::ImpulseModel3D_LWA:
80 50 impulse = boost::make_shared<crocoddyl::ImpulseModel3D>(
81
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 50 state, frame_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED);
82 50 break;
83 110 case ImpulseModelTypes::ImpulseModel6D_LOCAL:
84 110 impulse = boost::make_shared<crocoddyl::ImpulseModel6D>(
85
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 110 state, frame_id, pinocchio::ReferenceFrame::LOCAL);
86 110 break;
87 68 case ImpulseModelTypes::ImpulseModel6D_WORLD:
88 68 impulse = boost::make_shared<crocoddyl::ImpulseModel6D>(
89
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 68 state, frame_id, pinocchio::ReferenceFrame::WORLD);
90 68 break;
91 25 case ImpulseModelTypes::ImpulseModel6D_LWA:
92 25 impulse = boost::make_shared<crocoddyl::ImpulseModel6D>(
93
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 25 state, frame_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED);
94 25 break;
95 ✗ default:
96 ✗ throw_pretty(__FILE__ ": Wrong ImpulseModelTypes::Type given");
97 break;
98 }
99 806 return impulse;
100 403 }
101
102 39 boost::shared_ptr<crocoddyl::ImpulseModelAbstract> create_random_impulse() {
103 static bool once = true;
104
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 39 if (once) {
105 1 srand((unsigned)time(NULL));
106 1 once = false;
107 }
108 39 boost::shared_ptr<crocoddyl::ImpulseModelAbstract> impulse;
109
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 39 ImpulseModelFactory factory;
110
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 39 if (rand() % 2 == 0) {
111
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 34 impulse = factory.create(ImpulseModelTypes::ImpulseModel3D_LOCAL,
112 17 PinocchioModelTypes::RandomHumanoid);
113 } else {
114
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 44 impulse = factory.create(ImpulseModelTypes::ImpulseModel6D_LOCAL,
115 22 PinocchioModelTypes::RandomHumanoid);
116 }
117 78 return impulse;
118 39 }
119
120 } // namespace unittest
121 } // namespace crocoddyl
122