GCC Code Coverage Report

Directory: ./
File: unittest/test_actions.cpp
Date: 2025-02-24 23:41:29
Exec Total Coverage
Lines: 179 183 97.8%
Branches: 352 762 46.2%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, New York University, Max Planck
5 // Gesellschaft
6 // University of Edinburgh, INRIA
7 // Copyright note valid unless otherwise stated in individual files.
8 // All rights reserved.
9 ///////////////////////////////////////////////////////////////////////////////
10
11 #define BOOST_TEST_NO_MAIN
12 #define BOOST_TEST_ALTERNATIVE_INIT_API
13
14 #include "factory/action.hpp"
15 #include "factory/control.hpp"
16 #include "factory/diff_action.hpp"
17 #include "factory/integrator.hpp"
18 #include "unittest_common.hpp"
19
20 using namespace boost::unit_test;
21 using namespace crocoddyl::unittest;
22
23 //----------------------------------------------------------------------------//
24
25 214 void test_check_data(
26 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model) {
27 // Run the print function
28
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 214 std::ostringstream tmp;
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 214 tmp << *model;
30
31 // create the corresponding data object
32 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data =
33
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 214 model->createData();
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 214 BOOST_CHECK(model->checkData(data));
35 214 }
36
37 214 void test_calc(const std::shared_ptr<crocoddyl::ActionModelAbstract>& model) {
38 // create the corresponding data object
39 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data =
40
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 214 model->createData();
41 214 data->cost = nan("");
42
43 // Generating random state and control vectors
44
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 214 const Eigen::VectorXd x = model->get_state()->rand();
45
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 214 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
46
47 // Getting the state dimension from calc() call
48
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 214 model->calc(data, x, u);
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 214 BOOST_CHECK(static_cast<std::size_t>(data->xnext.size()) ==
50 model->get_state()->get_nx());
51
52 // Checking that calc returns a cost value
53
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 214 BOOST_CHECK(!std::isnan(data->cost));
54
55 // Checking the termninal state
56 214 double tol = std::sqrt(2.0 * std::numeric_limits<double>::epsilon());
57
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 214 model->calc(data, x);
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 214 BOOST_CHECK((data->xnext - x).head(model->get_state()->get_nq()).isZero(tol));
59 214 }
60
61 214 void test_partial_derivatives_against_numdiff(
62 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model) {
63 // create the corresponding data object and set the cost to nan
64 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data =
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 214 model->createData();
66
67
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 214 crocoddyl::ActionModelNumDiff model_num_diff(model);
68 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data_num_diff =
69
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 214 model_num_diff.createData();
70
71 // Generating random values for the state and control
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 214 Eigen::VectorXd x = model->get_state()->rand();
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 214 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
74
75 // Computing the action derivatives
76
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 214 model->calc(data, x, u);
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 214 model->calcDiff(data, x, u);
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 214 model_num_diff.calc(data_num_diff, x, u);
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 214 model_num_diff.calcDiff(data_num_diff, x, u);
80 // Tolerance defined as in
81 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
82 214 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
83
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 214 BOOST_CHECK((data->h - data_num_diff->h).isZero(tol));
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 214 BOOST_CHECK((data->g - data_num_diff->g).isZero(tol));
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 214 BOOST_CHECK((data->Fx - data_num_diff->Fx).isZero(tol));
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 214 BOOST_CHECK((data->Fu - data_num_diff->Fu).isZero(tol));
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 214 BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol));
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 214 BOOST_CHECK((data->Lu - data_num_diff->Lu).isZero(tol));
89
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 214 if (model_num_diff.get_with_gauss_approx()) {
90 ✗ BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol));
91 ✗ BOOST_CHECK((data->Lxu - data_num_diff->Lxu).isZero(tol));
92 ✗ BOOST_CHECK((data->Luu - data_num_diff->Luu).isZero(tol));
93 }
94
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 214 BOOST_CHECK((data->Hx - data_num_diff->Hx).isZero(tol));
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 214 BOOST_CHECK((data->Hu - data_num_diff->Hu).isZero(tol));
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 214 BOOST_CHECK((data->Gx - data_num_diff->Gx).isZero(tol));
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 214 BOOST_CHECK((data->Gu - data_num_diff->Gu).isZero(tol));
98
99 // Computing the action derivatives
100
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 214 x = model->get_state()->rand();
101
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 214 model->calc(data, x);
102
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 214 model->calcDiff(data, x);
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 214 model_num_diff.calc(data_num_diff, x);
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 214 model_num_diff.calcDiff(data_num_diff, x);
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 214 BOOST_CHECK((data->h - data_num_diff->h).isZero(tol));
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 214 BOOST_CHECK((data->g - data_num_diff->g).isZero(tol));
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 214 BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol));
108
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 214 if (model_num_diff.get_with_gauss_approx()) {
109 ✗ BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol));
110 }
111
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 214 BOOST_CHECK((data->Hx - data_num_diff->Hx).isZero(tol));
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 214 BOOST_CHECK((data->Gx - data_num_diff->Gx).isZero(tol));
113 214 }
114
115 7 void test_check_action_data(ActionModelTypes::Type action_model_type) {
116 // create the model
117
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 7 ActionModelFactory factory;
118 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model =
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 7 factory.create(action_model_type);
120
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 7 test_check_data(model);
121 7 }
122
123 207 void test_check_integrated_action_data(
124 DifferentialActionModelTypes::Type dam_type,
125 IntegratorTypes::Type integrator_type, ControlTypes::Type control_type) {
126 // create the differential action model
127
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 207 DifferentialActionModelFactory factory_dam;
128 const std::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& dam =
129
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 207 factory_dam.create(dam_type);
130 // create the control discretization
131
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 207 ControlFactory factory_ctrl;
132 const std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract>& ctrl =
133
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 207 factory_ctrl.create(control_type, dam->get_nu());
134 // create the integrator
135
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 207 IntegratorFactory factory_int;
136 const std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>& model =
137
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 207 factory_int.create(integrator_type, dam, ctrl);
138
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 207 test_check_data(model);
139 207 }
140
141 7 void test_calc_action_model(ActionModelTypes::Type action_model_type) {
142 // create the model
143
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 7 ActionModelFactory factory;
144 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model =
145
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 7 factory.create(action_model_type);
146
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 7 test_calc(model);
147 7 }
148
149 207 void test_calc_integrated_action_model(
150 DifferentialActionModelTypes::Type dam_type,
151 IntegratorTypes::Type integrator_type, ControlTypes::Type control_type) {
152 // create the differential action model
153
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 207 DifferentialActionModelFactory factory_dam;
154 const std::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& dam =
155
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 207 factory_dam.create(dam_type);
156 // create the control discretization
157
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 207 ControlFactory factory_ctrl;
158 const std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract>& ctrl =
159
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 207 factory_ctrl.create(control_type, dam->get_nu());
160 // create the integrator
161
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 207 IntegratorFactory factory_int;
162 const std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>& model =
163
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 207 factory_int.create(integrator_type, dam, ctrl);
164
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 207 test_calc(model);
165 207 }
166
167 7 void test_partial_derivatives_action_model(
168 ActionModelTypes::Type action_model_type) {
169 // create the model
170
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 7 ActionModelFactory factory;
171 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model =
172
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 7 factory.create(action_model_type);
173
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 7 test_partial_derivatives_against_numdiff(model);
174 7 }
175
176 207 void test_partial_derivatives_integrated_action_model(
177 DifferentialActionModelTypes::Type dam_type,
178 IntegratorTypes::Type integrator_type, ControlTypes::Type control_type) {
179 // create the differential action model
180
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 207 DifferentialActionModelFactory factory_dam;
181 const std::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& dam =
182
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 207 factory_dam.create(dam_type);
183 // create the control discretization
184
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 207 ControlFactory factory_ctrl;
185 const std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract>& ctrl =
186
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 207 factory_ctrl.create(control_type, dam->get_nu());
187 // create the integrator
188
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 207 IntegratorFactory factory_int;
189 const std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>& model =
190
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 207 factory_int.create(integrator_type, dam, ctrl);
191
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 207 test_partial_derivatives_against_numdiff(model);
192 207 }
193
194 /**
195 * Test two action models that should provide the same result when calling calc
196 * if the first part of the control input u of model2 is equal to the control
197 * input of model1. A typical case would be an integrated action model using an
198 * Euler integration scheme, which can be coupled either with a constant control
199 * parametrization (model1) or a linear control parametrization (model2), and
200 * should thus provide the same result as long as the control input at the
201 * beginning of the step has the same value.
202 */
203 46 void test_calc_against_calc(
204 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model1,
205 const std::shared_ptr<crocoddyl::ActionModelAbstract>& model2) {
206 // create the corresponding data object and set the cost to nan
207 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data1 =
208
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 46 model1->createData();
209 const std::shared_ptr<crocoddyl::ActionDataAbstract>& data2 =
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 46 model2->createData();
211
212 // Generating random values for the state and control
213
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 46 const Eigen::VectorXd x = model1->get_state()->rand();
214
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 46 Eigen::VectorXd u1 = Eigen::VectorXd::Random(model1->get_nu());
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 46 Eigen::VectorXd u2 = Eigen::VectorXd::Random(model2->get_nu());
216 // copy u1 to the first part of u2 (assuming u2 is larger than u1)
217
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 46 u2.head(u1.size()) = u1;
218
219 // Computing the action
220
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 46 model1->calc(data1, x, u1);
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 46 model2->calc(data2, x, u2);
222
223 // Checking the state and cost integration
224
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 46 BOOST_CHECK((data1->xnext - data2->xnext).isZero(1e-9));
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 46 BOOST_CHECK(abs(data1->cost - data2->cost) < 1e-9);
226 46 }
227
228 46 void register_test_calc_integrated_action_model(
229 DifferentialActionModelTypes::Type dam_type,
230 IntegratorTypes::Type integrator_type, ControlTypes::Type control_type1,
231 ControlTypes::Type control_type2) {
232 // create the differential action model
233
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 46 DifferentialActionModelFactory factory_dam;
234 const std::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& dam =
235
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 46 factory_dam.create(dam_type);
236 // create the control discretization
237
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 46 ControlFactory factory_ctrl;
238 const std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract>& ctrl1 =
239
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 46 factory_ctrl.create(control_type1, dam->get_nu());
240 const std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract>& ctrl2 =
241
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 46 factory_ctrl.create(control_type2, dam->get_nu());
242 // create the integrator
243
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 46 IntegratorFactory factory_int;
244 const std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>& model1 =
245
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 46 factory_int.create(integrator_type, dam, ctrl1);
246 const std::shared_ptr<crocoddyl::IntegratedActionModelAbstract>& model2 =
247
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 46 factory_int.create(integrator_type, dam, ctrl2);
248
249
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 46 boost::test_tools::output_test_stream test_name;
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 46 test_name << "test_calc_integrated_action_model_" << dam_type << "_"
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 46 << integrator_type << "_" << control_type1 << "_" << control_type2;
252
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 46 std::cout << "Running " << test_name.str() << std::endl;
253
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 46 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
254 92 ts->add(
255
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 46 BOOST_TEST_CASE(boost::bind(&test_calc_against_calc, model1, model2)));
256
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 46 framework::master_test_suite().add(ts);
257 46 }
258
259 //----------------------------------------------------------------------------//
260
261 7 void register_action_model_unit_tests(
262 ActionModelTypes::Type action_model_type) {
263
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 7 boost::test_tools::output_test_stream test_name;
264
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 7 test_name << "test_" << action_model_type;
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 7 std::cout << "Running " << test_name.str() << std::endl;
266
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 7 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
267 14 ts->add(
268
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 7 BOOST_TEST_CASE(boost::bind(&test_check_action_data, action_model_type)));
269 14 ts->add(
270
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 7 BOOST_TEST_CASE(boost::bind(&test_calc_action_model, action_model_type)));
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 7 ts->add(BOOST_TEST_CASE(
272 boost::bind(&test_partial_derivatives_action_model, action_model_type)));
273
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 7 framework::master_test_suite().add(ts);
274 7 }
275
276 207 void register_integrated_action_model_unit_tests(
277 DifferentialActionModelTypes::Type dam_type,
278 IntegratorTypes::Type integrator_type, ControlTypes::Type control_type) {
279
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 207 boost::test_tools::output_test_stream test_name;
280
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 207 test_name << "test_" << dam_type << "_" << integrator_type << "_"
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 207 << control_type;
282
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 207 std::cout << "Running " << test_name.str() << std::endl;
283
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 207 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
284 414 ts->add(
285
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 207 BOOST_TEST_CASE(boost::bind(&test_check_integrated_action_data, dam_type,
286 integrator_type, control_type)));
287 414 ts->add(
288
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 207 BOOST_TEST_CASE(boost::bind(&test_calc_integrated_action_model, dam_type,
289 integrator_type, control_type)));
290
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 207 ts->add(BOOST_TEST_CASE(
291 boost::bind(&test_partial_derivatives_integrated_action_model, dam_type,
292 integrator_type, control_type)));
293
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 207 framework::master_test_suite().add(ts);
294 207 }
295
296 1 bool init_function() {
297
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 8 for (size_t i = 0; i < ActionModelTypes::all.size(); ++i) {
298 7 register_action_model_unit_tests(ActionModelTypes::all[i]);
299 }
300
301
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 24 for (size_t i = 0; i < DifferentialActionModelTypes::all.size(); ++i) {
302 23 register_integrated_action_model_unit_tests(
303 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorEuler,
304 ControlTypes::PolyZero);
305 23 register_integrated_action_model_unit_tests(
306 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK2,
307 ControlTypes::PolyZero);
308 23 register_integrated_action_model_unit_tests(
309 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK2,
310 ControlTypes::PolyOne);
311 23 register_integrated_action_model_unit_tests(
312 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK3,
313 ControlTypes::PolyZero);
314 23 register_integrated_action_model_unit_tests(
315 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK3,
316 ControlTypes::PolyOne);
317 23 register_integrated_action_model_unit_tests(
318 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK3,
319 ControlTypes::PolyTwoRK3);
320 23 register_integrated_action_model_unit_tests(
321 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK4,
322 ControlTypes::PolyZero);
323 23 register_integrated_action_model_unit_tests(
324 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK4,
325 ControlTypes::PolyOne);
326 23 register_integrated_action_model_unit_tests(
327 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorRK4,
328 ControlTypes::PolyTwoRK4);
329 }
330
331
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 24 for (size_t i = 0; i < DifferentialActionModelTypes::all.size(); ++i) {
332 23 register_test_calc_integrated_action_model(
333 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorEuler,
334 ControlTypes::PolyZero, ControlTypes::PolyOne);
335 23 register_test_calc_integrated_action_model(
336 23 DifferentialActionModelTypes::all[i], IntegratorTypes::IntegratorEuler,
337 ControlTypes::PolyOne, ControlTypes::PolyTwoRK4);
338 }
339 1 return true;
340 }
341
342 1 int main(int argc, char** argv) {
343 1 return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
344 }
345