GCC Code Coverage Report

Directory: ./
File: unittest/factory/integrator.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 56 65 86.2%
Branches: 20 48 41.7%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021, University of Edinburgh, LAAS-CNRS, University of Trento
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "integrator.hpp"
10
11 #include "crocoddyl/core/integrator/euler.hpp"
12 #include "crocoddyl/core/integrator/rk.hpp"
13 #include "crocoddyl/core/utils/exception.hpp"
14
15 namespace crocoddyl {
16 namespace unittest {
17
18 const std::vector<IntegratorTypes::Type> IntegratorTypes::all(
19 IntegratorTypes::init_all());
20
21 345 std::ostream& operator<<(std::ostream& os, IntegratorTypes::Type type) {
22
4/6
✓ Branch 0 taken 92 times.
✓ Branch 1 taken 69 times.
✓ Branch 2 taken 92 times.
✓ Branch 3 taken 92 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
 345 switch (type) {
23 92 case IntegratorTypes::IntegratorEuler:
24 92 os << "IntegratorEuler";
25 92 break;
26 69 case IntegratorTypes::IntegratorRK2:
27 69 os << "IntegratorRK2";
28 69 break;
29 92 case IntegratorTypes::IntegratorRK3:
30 92 os << "IntegratorRK3";
31 92 break;
32 92 case IntegratorTypes::IntegratorRK4:
33 92 os << "IntegratorRK4";
34 92 break;
35 ✗ case IntegratorTypes::NbIntegratorTypes:
36 ✗ os << "NbIntegratorTypes";
37 ✗ break;
38 ✗ default:
39 ✗ break;
40 }
41 345 return os;
42 }
43
44 1035 IntegratorFactory::IntegratorFactory() {}
45 1035 IntegratorFactory::~IntegratorFactory() {}
46
47 boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract>
48 368 IntegratorFactory::create(
49 IntegratorTypes::Type type,
50 boost::shared_ptr<DifferentialActionModelAbstract> model) const {
51 368 boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action;
52
4/5
✓ Branch 0 taken 92 times.
✓ Branch 1 taken 92 times.
✓ Branch 2 taken 92 times.
✓ Branch 3 taken 92 times.
✗ Branch 4 not taken.
 368 switch (type) {
53 92 case IntegratorTypes::IntegratorEuler:
54
1/2
✓ Branch 1 taken 92 times.
✗ Branch 2 not taken.
 92 action = boost::make_shared<crocoddyl::IntegratedActionModelEuler>(model);
55 92 break;
56 92 case IntegratorTypes::IntegratorRK2:
57 92 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
58
1/2
✓ Branch 1 taken 92 times.
✗ Branch 2 not taken.
 92 model, RKType::two);
59 92 break;
60 92 case IntegratorTypes::IntegratorRK3:
61 92 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
62
1/2
✓ Branch 1 taken 92 times.
✗ Branch 2 not taken.
 92 model, RKType::three);
63 92 break;
64 92 case IntegratorTypes::IntegratorRK4:
65 92 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
66
1/2
✓ Branch 1 taken 92 times.
✗ Branch 2 not taken.
 92 model, RKType::four);
67 92 break;
68 ✗ default:
69 ✗ throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given");
70 break;
71 }
72 368 return action;
73 }
74
75 boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract>
76 713 IntegratorFactory::create(
77 IntegratorTypes::Type type,
78 boost::shared_ptr<DifferentialActionModelAbstract> model,
79 boost::shared_ptr<ControlParametrizationModelAbstract> control) const {
80 713 boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action;
81
4/5
✓ Branch 0 taken 161 times.
✓ Branch 1 taken 138 times.
✓ Branch 2 taken 207 times.
✓ Branch 3 taken 207 times.
✗ Branch 4 not taken.
 713 switch (type) {
82 161 case IntegratorTypes::IntegratorEuler:
83
1/2
✓ Branch 1 taken 161 times.
✗ Branch 2 not taken.
 322 action = boost::make_shared<crocoddyl::IntegratedActionModelEuler>(
84 161 model, control);
85 161 break;
86 138 case IntegratorTypes::IntegratorRK2:
87 138 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
88
1/2
✓ Branch 1 taken 138 times.
✗ Branch 2 not taken.
 138 model, control, RKType::two);
89 138 break;
90 207 case IntegratorTypes::IntegratorRK3:
91 207 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
92
1/2
✓ Branch 1 taken 207 times.
✗ Branch 2 not taken.
 207 model, control, RKType::three);
93 207 break;
94 207 case IntegratorTypes::IntegratorRK4:
95 207 action = boost::make_shared<crocoddyl::IntegratedActionModelRK>(
96
1/2
✓ Branch 1 taken 207 times.
✗ Branch 2 not taken.
 207 model, control, RKType::four);
97 207 break;
98 ✗ default:
99 ✗ throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given");
100 break;
101 }
102 713 return action;
103 }
104
105 } // namespace unittest
106 } // namespace crocoddyl
107