GCC Code Coverage Report

Directory: ./
File: unittest/factory/solver.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 51 61 83.6%
Branches: 25 47 53.2%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, LAAS-CNRS, New York University,
5 // Max Planck Gesellschaft, University of Edinburgh,
6 // Heriot-Watt University
7 // Copyright note valid unless otherwise stated in individual files.
8 // All rights reserved.
9 ///////////////////////////////////////////////////////////////////////////////
10
11 #include "solver.hpp"
12
13 #include "crocoddyl/core/solvers/box-ddp.hpp"
14 #include "crocoddyl/core/solvers/box-fddp.hpp"
15 #include "crocoddyl/core/solvers/ddp.hpp"
16 #include "crocoddyl/core/solvers/fddp.hpp"
17 #ifdef CROCODDYL_WITH_IPOPT
18 #include "crocoddyl/core/solvers/ipopt.hpp"
19 #endif
20 #include "crocoddyl/core/utils/exception.hpp"
21
22 namespace crocoddyl {
23 namespace unittest {
24
25 const std::vector<SolverTypes::Type> SolverTypes::all(SolverTypes::init_all());
26
27 25 std::ostream& operator<<(std::ostream& os, SolverTypes::Type type) {
28
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 25 switch (type) {
29 ✗ case SolverTypes::SolverKKT:
30 ✗ os << "SolverKKT";
31 ✗ break;
32 5 case SolverTypes::SolverDDP:
33 5 os << "SolverDDP";
34 5 break;
35 5 case SolverTypes::SolverFDDP:
36 5 os << "SolverFDDP";
37 5 break;
38 5 case SolverTypes::SolverBoxDDP:
39 5 os << "SolverBoxDDP";
40 5 break;
41 5 case SolverTypes::SolverBoxFDDP:
42 5 os << "SolverBoxFDDP";
43 5 break;
44 #ifdef CROCODDYL_WITH_IPOPT
45 5 case SolverTypes::SolverIpopt:
46 5 os << "SolverIpopt";
47 5 break;
48 #endif
49 ✗ case SolverTypes::NbSolverTypes:
50 ✗ os << "NbSolverTypes";
51 ✗ break;
52 ✗ default:
53 ✗ break;
54 }
55 25 return os;
56 }
57
58 39 SolverFactory::SolverFactory() {}
59
60 39 SolverFactory::~SolverFactory() {}
61
62 64 boost::shared_ptr<crocoddyl::SolverAbstract> SolverFactory::create(
63 SolverTypes::Type solver_type,
64 boost::shared_ptr<crocoddyl::ActionModelAbstract> model,
65 boost::shared_ptr<crocoddyl::ActionModelAbstract> model2,
66 boost::shared_ptr<crocoddyl::ActionModelAbstract> modelT, size_t T) const {
67 64 boost::shared_ptr<crocoddyl::SolverAbstract> solver;
68 std::vector<boost::shared_ptr<crocoddyl::ActionModelAbstract> >
69 64 running_models;
70 64 const size_t halfway = T / 2;
71
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 384 for (size_t i = 0; i < halfway; ++i) {
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 320 running_models.push_back(model);
73 }
74
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 384 for (size_t i = 0; i < T - halfway; ++i) {
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 320 running_models.push_back(model2);
76 }
77
78 boost::shared_ptr<crocoddyl::ShootingProblem> problem =
79
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 64 boost::make_shared<crocoddyl::ShootingProblem>(model->get_state()->zero(),
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 64 running_models, modelT);
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82
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 64 switch (solver_type) {
83 39 case SolverTypes::SolverKKT:
84
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 39 solver = boost::make_shared<crocoddyl::SolverKKT>(problem);
85 39 break;
86 5 case SolverTypes::SolverDDP:
87
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 5 solver = boost::make_shared<crocoddyl::SolverDDP>(problem);
88 5 break;
89 5 case SolverTypes::SolverFDDP:
90
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 5 solver = boost::make_shared<crocoddyl::SolverFDDP>(problem);
91 5 break;
92 5 case SolverTypes::SolverBoxDDP:
93
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 5 solver = boost::make_shared<crocoddyl::SolverBoxDDP>(problem);
94 5 break;
95 5 case SolverTypes::SolverBoxFDDP:
96
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 5 solver = boost::make_shared<crocoddyl::SolverBoxFDDP>(problem);
97 5 break;
98 #ifdef CROCODDYL_WITH_IPOPT
99 5 case SolverTypes::SolverIpopt:
100
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 5 solver = boost::make_shared<crocoddyl::SolverIpopt>(problem);
101 5 break;
102 #endif
103 ✗ default:
104 ✗ throw_pretty(__FILE__ ": Wrong SolverTypes::Type given");
105 break;
106 }
107 128 return solver;
108 64 }
109
110 } // namespace unittest
111 } // namespace crocoddyl
112