GCC Code Coverage Report

Directory: ./
File: unittest/factory/state.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 59 66 89.4%
Branches: 33 63 52.4%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "state.hpp"
10
11 #include <pinocchio/fwd.hpp>
12 #include <pinocchio/parsers/sample-models.hpp>
13 #include <pinocchio/parsers/urdf.hpp>
14
15 #include "crocoddyl/core/states/euclidean.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
17 #include "crocoddyl/multibody/states/multibody.hpp"
18
19 namespace crocoddyl {
20 namespace unittest {
21
22 const std::vector<StateModelTypes::Type> StateModelTypes::all(
23 StateModelTypes::init_all());
24
25 598 std::ostream& operator<<(std::ostream& os, StateModelTypes::Type type) {
26
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 598 switch (type) {
27 2 case StateModelTypes::StateVector:
28 2 os << "StateVector";
29 2 break;
30 3 case StateModelTypes::StateMultibody_Hector:
31 3 os << "StateMultibody_Hector";
32 3 break;
33 113 case StateModelTypes::StateMultibody_TalosArm:
34 113 os << "StateMultibody_TalosArm";
35 113 break;
36 111 case StateModelTypes::StateMultibodyContact2D_TalosArm:
37 111 os << "StateMultibodyContact2D_TalosArm";
38 111 break;
39 124 case StateModelTypes::StateMultibody_HyQ:
40 124 os << "StateMultibody_HyQ";
41 124 break;
42 123 case StateModelTypes::StateMultibody_Talos:
43 123 os << "StateMultibody_Talos";
44 123 break;
45 122 case StateModelTypes::StateMultibody_RandomHumanoid:
46 122 os << "StateMultibody_RandomHumanoid";
47 122 break;
48 ✗ case StateModelTypes::NbStateModelTypes:
49 ✗ os << "NbStateModelTypes";
50 ✗ break;
51 ✗ default:
52 ✗ break;
53 }
54 598 return os;
55 }
56
57 8661 StateModelFactory::StateModelFactory() {}
58 8661 StateModelFactory::~StateModelFactory() {}
59
60 8661 boost::shared_ptr<crocoddyl::StateAbstract> StateModelFactory::create(
61 StateModelTypes::Type state_type) const {
62 8661 boost::shared_ptr<pinocchio::Model> model;
63 8661 boost::shared_ptr<crocoddyl::StateAbstract> state;
64
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 8661 switch (state_type) {
65 18 case StateModelTypes::StateVector:
66
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 18 state = boost::make_shared<crocoddyl::StateVector>(80);
67 18 break;
68 624 case StateModelTypes::StateMultibody_Hector:
69
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 624 model = PinocchioModelFactory(PinocchioModelTypes::Hector).create();
70
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 624 state = boost::make_shared<crocoddyl::StateMultibody>(model);
71 624 break;
72 2895 case StateModelTypes::StateMultibody_TalosArm:
73
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 2895 model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create();
74
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 2895 state = boost::make_shared<crocoddyl::StateMultibody>(model);
75 2895 break;
76 995 case StateModelTypes::StateMultibodyContact2D_TalosArm:
77
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 995 model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create();
78
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 995 state = boost::make_shared<crocoddyl::StateMultibody>(model);
79 995 break;
80 1660 case StateModelTypes::StateMultibody_HyQ:
81
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 1660 model = PinocchioModelFactory(PinocchioModelTypes::HyQ).create();
82
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 1660 state = boost::make_shared<crocoddyl::StateMultibody>(model);
83 1660 break;
84 1755 case StateModelTypes::StateMultibody_Talos:
85
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 1755 model = PinocchioModelFactory(PinocchioModelTypes::Talos).create();
86
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 1755 state = boost::make_shared<crocoddyl::StateMultibody>(model);
87 1755 break;
88 714 case StateModelTypes::StateMultibody_RandomHumanoid:
89 model =
90
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 714 PinocchioModelFactory(PinocchioModelTypes::RandomHumanoid).create();
91
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 714 state = boost::make_shared<crocoddyl::StateMultibody>(model);
92 714 break;
93 ✗ default:
94 ✗ throw_pretty(__FILE__ ": Wrong StateModelTypes::Type given");
95 break;
96 }
97 17322 return state;
98 8661 }
99
100 } // namespace unittest
101 } // namespace crocoddyl
102