GCC Code Coverage Report

Directory: ./
File: unittest/test_actuation.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 110 111 99.1%
Branches: 210 408 51.5%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #define BOOST_TEST_NO_MAIN
10 #define BOOST_TEST_ALTERNATIVE_INIT_API
11
12 #include "factory/actuation.hpp"
13 #include "unittest_common.hpp"
14
15 using namespace boost::unit_test;
16 using namespace crocoddyl::unittest;
17
18 //----------------------------------------------------------------------------//
19
20 18 void test_construct_data(ActuationModelTypes::Type actuation_type,
21 StateModelTypes::Type state_type) {
22 // create the model
23
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 18 ActuationModelFactory factory;
24 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
25
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 18 factory.create(actuation_type, state_type);
26
27 // create the corresponding data object
28 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
29
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 18 model->createData();
30
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 18 if (!data)
31 ✗ throw std::runtime_error("[test_construct_data] Data pointer is dead.");
32 18 }
33
34 18 void test_calc_returns_tau(ActuationModelTypes::Type actuation_type,
35 StateModelTypes::Type state_type) {
36 // create the model
37
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 18 ActuationModelFactory factory;
38 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
39
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 18 factory.create(actuation_type, state_type);
40
41 // create the corresponding data object
42 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
43
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 18 model->createData();
44
45 // Generating random state and control vectors
46
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 18 const Eigen::VectorXd x = model->get_state()->rand();
47
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 18 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
48
49 // Getting the state dimension from calc() call
50
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 18 model->calc(data, x, u);
51
52
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 18 BOOST_CHECK(static_cast<std::size_t>(data->tau.size()) ==
53 model->get_state()->get_nv());
54 18 }
55
56 18 void test_actuationSet(ActuationModelTypes::Type actuation_type,
57 StateModelTypes::Type state_type) {
58 // create the model
59
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 18 ActuationModelFactory factory;
60 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
61
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 18 factory.create(actuation_type, state_type);
62
63 // create the corresponding data object and set the cost to nan
64 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
65
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 18 model->createData();
66
67
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 18 crocoddyl::ActuationModelNumDiff model_num_diff(model);
68 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data_num_diff =
69
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 18 model_num_diff.createData();
70
71 // Generating random values for the state and control
72
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 18 Eigen::VectorXd x = model->get_state()->rand();
73
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 18 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
74
75 // Computing the selection matrix
76
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 18 model->calc(data, x, u);
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 18 model_num_diff.calc(data_num_diff, x, u);
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 18 model_num_diff.calcDiff(data_num_diff, x, u);
79
80 18 const std::size_t nv = model->get_state()->get_nv();
81 Eigen::MatrixXd S =
82
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 18 data_num_diff->dtau_du * pseudoInverse(data_num_diff->dtau_du);
83
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 376 for (std::size_t k = 0; k < nv; ++k) {
84
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 358 if (fabs(S(k, k)) < std::numeric_limits<double>::epsilon()) {
85
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 22 BOOST_CHECK(data->tau_set[k] == false);
86 } else {
87
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 336 BOOST_CHECK(data->tau_set[k] == true);
88 }
89 }
90 18 }
91
92 18 void test_partial_derivatives_against_numdiff(
93 ActuationModelTypes::Type actuation_type,
94 StateModelTypes::Type state_type) {
95 // create the model
96
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 18 ActuationModelFactory factory;
97 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
98
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 18 factory.create(actuation_type, state_type);
99
100 // create the corresponding data object and set the cost to nan
101 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
102
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 18 model->createData();
103
104
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 18 crocoddyl::ActuationModelNumDiff model_num_diff(model);
105 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data_num_diff =
106
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 18 model_num_diff.createData();
107
108 // Generating random values for the state and control
109
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 18 Eigen::VectorXd x = model->get_state()->rand();
110
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 18 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
111
112 // Computing the actuation derivatives
113
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 18 model->calc(data, x, u);
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 18 model->calcDiff(data, x, u);
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 18 model_num_diff.calc(data_num_diff, x, u);
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 18 model_num_diff.calcDiff(data_num_diff, x, u);
117 // Tolerance defined as in
118 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
119 18 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
120
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 18 BOOST_CHECK((data->dtau_dx - data_num_diff->dtau_dx).isZero(tol));
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 18 BOOST_CHECK((data->dtau_du - data_num_diff->dtau_du).isZero(tol));
122
123 // Computing the actuation derivatives
124
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 18 x = model->get_state()->rand();
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 18 model->calc(data, x);
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 18 model->calcDiff(data, x);
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 18 model_num_diff.calc(data_num_diff, x);
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 18 model_num_diff.calcDiff(data_num_diff, x);
129
130 // Checking the partial derivatives against numdiff
131
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 18 BOOST_CHECK((data->dtau_dx - data_num_diff->dtau_dx).isZero(tol));
132 18 }
133
134 18 void test_commands(ActuationModelTypes::Type actuation_type,
135 StateModelTypes::Type state_type) {
136 // create the model
137
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 18 ActuationModelFactory factory;
138 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
139
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 18 factory.create(actuation_type, state_type);
140
141 // create the corresponding data object and set the cost to nan
142 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
143
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 18 model->createData();
144
145
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 18 crocoddyl::ActuationModelNumDiff model_num_diff(model);
146 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data_num_diff =
147
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 18 model_num_diff.createData();
148
149 // Generating random values for the state and control
150
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 18 Eigen::VectorXd x = model->get_state()->rand();
151 const Eigen::VectorXd tau =
152
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 18 Eigen::VectorXd::Random(model->get_state()->get_nv());
153
154 // Computing the actuation commands
155
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 18 model->commands(data, x, tau);
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 18 model_num_diff.commands(data_num_diff, x, tau);
157
158 // Checking the joint torques
159 18 double tol = sqrt(model_num_diff.get_disturbance());
160
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 18 BOOST_CHECK((data->u - data_num_diff->u).isZero(tol));
161 18 }
162
163 18 void test_torqueTransform(ActuationModelTypes::Type actuation_type,
164 StateModelTypes::Type state_type) {
165 // create the model
166
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 18 ActuationModelFactory factory;
167 const boost::shared_ptr<crocoddyl::ActuationModelAbstract>& model =
168
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 18 factory.create(actuation_type, state_type);
169
170 // create the corresponding data object and set the cost to nan
171 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data =
172
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 18 model->createData();
173
174
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 18 crocoddyl::ActuationModelNumDiff model_num_diff(model);
175 const boost::shared_ptr<crocoddyl::ActuationDataAbstract>& data_num_diff =
176
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 18 model_num_diff.createData();
177
178 // Generating random values for the state and control
179
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 18 Eigen::VectorXd x = model->get_state()->rand();
180
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 18 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
181
182 // Computing the torque transform
183
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 18 model->torqueTransform(data, x, u);
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 18 model_num_diff.torqueTransform(data_num_diff, x, u);
185
186 // Checking the torque transform
187 // Tolerance defined as in
188 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
189 18 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
190
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 18 BOOST_CHECK((data->Mtau - data_num_diff->Mtau).isZero(tol));
191 18 }
192
193 //----------------------------------------------------------------------------//
194
195 18 void register_actuation_model_unit_tests(
196 ActuationModelTypes::Type actuation_type,
197 StateModelTypes::Type state_type) {
198
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 18 boost::test_tools::output_test_stream test_name;
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 18 test_name << "test_" << actuation_type << "_" << state_type;
200
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 18 std::cout << "Running " << test_name.str() << std::endl;
201
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 18 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
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 18 ts->add(BOOST_TEST_CASE(
203 boost::bind(&test_construct_data, actuation_type, state_type)));
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 18 ts->add(BOOST_TEST_CASE(
205 boost::bind(&test_calc_returns_tau, actuation_type, state_type)));
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 18 ts->add(BOOST_TEST_CASE(
207 boost::bind(&test_actuationSet, actuation_type, state_type)));
208
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 18 ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_against_numdiff,
209 actuation_type, state_type)));
210 36 ts->add(
211
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 18 BOOST_TEST_CASE(boost::bind(&test_commands, actuation_type, state_type)));
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 18 ts->add(BOOST_TEST_CASE(
213 boost::bind(&test_torqueTransform, actuation_type, state_type)));
214
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 18 framework::master_test_suite().add(ts);
215 18 }
216
217 1 bool init_function() {
218
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 8 for (size_t i = 0; i < StateModelTypes::all.size(); ++i) {
219 7 register_actuation_model_unit_tests(ActuationModelTypes::ActuationModelFull,
220 7 StateModelTypes::all[i]);
221 }
222
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 8 for (size_t i = 0; i < StateModelTypes::all.size(); ++i) {
223
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 13 if (StateModelTypes::all[i] != StateModelTypes::StateVector &&
224
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 6 StateModelTypes::all[i] != StateModelTypes::StateMultibody_Hector) {
225 5 register_actuation_model_unit_tests(
226 ActuationModelTypes::ActuationModelFloatingBase,
227 5 StateModelTypes::all[i]);
228 5 register_actuation_model_unit_tests(
229 ActuationModelTypes::ActuationModelSquashingFull,
230 5 StateModelTypes::all[i]);
231 }
232 }
233
234 1 register_actuation_model_unit_tests(
235 ActuationModelTypes::ActuationModelFloatingBaseThrusters,
236 StateModelTypes::StateMultibody_Hector);
237 1 return true;
238 }
239
240 1 int main(int argc, char** argv) {
241 1 return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
242 }
243