GCC Code Coverage Report

Directory: ./
File: unittest/factory/integrator.cpp
Date: 2025-05-13 10:30:51
Exec Total Coverage
Lines: 0 65 0.0%
Branches: 0 48 0.0%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, LAAS-CNRS,
5 // University of Trento, Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #include "integrator.hpp"
11
12 #include "crocoddyl/core/integrator/euler.hpp"
13 #include "crocoddyl/core/integrator/rk.hpp"
14
15 namespace crocoddyl {
16 namespace unittest {
17
18 const std::vector<IntegratorTypes::Type> IntegratorTypes::all(
19 IntegratorTypes::init_all());
20
21 ✗ std::ostream& operator<<(std::ostream& os, IntegratorTypes::Type type) {
22 ✗ switch (type) {
23 ✗ case IntegratorTypes::IntegratorEuler:
24 ✗ os << "IntegratorEuler";
25 ✗ break;
26 ✗ case IntegratorTypes::IntegratorRK2:
27 ✗ os << "IntegratorRK2";
28 ✗ break;
29 ✗ case IntegratorTypes::IntegratorRK3:
30 ✗ os << "IntegratorRK3";
31 ✗ break;
32 ✗ case IntegratorTypes::IntegratorRK4:
33 ✗ os << "IntegratorRK4";
34 ✗ break;
35 ✗ case IntegratorTypes::NbIntegratorTypes:
36 ✗ os << "NbIntegratorTypes";
37 ✗ break;
38 ✗ default:
39 ✗ break;
40 }
41 ✗ return os;
42 }
43
44 ✗ IntegratorFactory::IntegratorFactory() {}
45 ✗ IntegratorFactory::~IntegratorFactory() {}
46
47 std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>
48 ✗ IntegratorFactory::create(
49 IntegratorTypes::Type type,
50 std::shared_ptr<DifferentialActionModelAbstract> model) const {
51 ✗ std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action;
52 ✗ switch (type) {
53 ✗ case IntegratorTypes::IntegratorEuler:
54 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelEuler>(model);
55 ✗ break;
56 ✗ case IntegratorTypes::IntegratorRK2:
57 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
58 ✗ model, RKType::two);
59 ✗ break;
60 ✗ case IntegratorTypes::IntegratorRK3:
61 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
62 ✗ model, RKType::three);
63 ✗ break;
64 ✗ case IntegratorTypes::IntegratorRK4:
65 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
66 ✗ model, RKType::four);
67 ✗ break;
68 ✗ default:
69 ✗ throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given");
70 break;
71 }
72 ✗ return action;
73 }
74
75 std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>
76 ✗ IntegratorFactory::create(
77 IntegratorTypes::Type type,
78 std::shared_ptr<DifferentialActionModelAbstract> model,
79 std::shared_ptr<ControlParametrizationModelAbstract> control) const {
80 ✗ std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action;
81 ✗ switch (type) {
82 ✗ case IntegratorTypes::IntegratorEuler:
83 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelEuler>(model,
84 ✗ control);
85 ✗ break;
86 ✗ case IntegratorTypes::IntegratorRK2:
87 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
88 ✗ model, control, RKType::two);
89 ✗ break;
90 ✗ case IntegratorTypes::IntegratorRK3:
91 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
92 ✗ model, control, RKType::three);
93 ✗ break;
94 ✗ case IntegratorTypes::IntegratorRK4:
95 ✗ action = std::make_shared<crocoddyl::IntegratedActionModelRK>(
96 ✗ model, control, RKType::four);
97 ✗ break;
98 ✗ default:
99 ✗ throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given");
100 break;
101 }
102 ✗ return action;
103 }
104
105 } // namespace unittest
106 } // namespace crocoddyl
107