GCC Code Coverage Report

Directory: ./
File: unittest/test_contact_costs.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 51 55 92.7%
Branches: 93 238 39.1%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2023, 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/contact_cost.hpp"
13 #include "unittest_common.hpp"
14
15 using namespace boost::unit_test;
16 using namespace crocoddyl::unittest;
17
18 //----------------------------------------------------------------------------//
19
20 48 void test_partial_derivatives_against_contact_numdiff(
21 ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type,
22 ActivationModelTypes::Type activation_type,
23 ActuationModelTypes::Type actuation_type) {
24 // create the model
25 const boost::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& model =
26
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 48 ContactCostModelFactory().create(cost_type, model_type, activation_type,
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 48 actuation_type);
28
29 // create the corresponding data object and set the cost to nan
30 const boost::shared_ptr<crocoddyl::DifferentialActionDataAbstract>& data =
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 48 model->createData();
32
33
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 48 crocoddyl::DifferentialActionModelNumDiff model_num_diff(model);
34 const boost::shared_ptr<crocoddyl::DifferentialActionDataAbstract>&
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 48 data_num_diff = model_num_diff.createData();
36
37 // Generating random values for the state and control
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 48 Eigen::VectorXd x = model->get_state()->rand();
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 48 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
40
41 // Computing the action derivatives
42
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 48 model->calc(data, x, u);
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 48 model->calcDiff(data, x, u);
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 48 model_num_diff.calc(data_num_diff, x, u);
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 48 model_num_diff.calcDiff(data_num_diff, x, u);
46 // Tolerance defined as in
47 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
48 48 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
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 48 BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol));
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 48 BOOST_CHECK((data->Lu - data_num_diff->Lu).isZero(tol));
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 48 if (model_num_diff.get_with_gauss_approx()) {
52 ✗ BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol));
53 ✗ BOOST_CHECK((data->Lxu - data_num_diff->Lxu).isZero(tol));
54 ✗ BOOST_CHECK((data->Luu - data_num_diff->Luu).isZero(tol));
55 }
56
57 // Computing the action derivatives
58
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 48 x = model->get_state()->rand();
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 48 model->calc(data, x);
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 48 model->calcDiff(data, x);
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 48 model_num_diff.calc(data_num_diff, x);
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 48 model_num_diff.calcDiff(data_num_diff, x);
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 48 BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol));
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 48 if (model_num_diff.get_with_gauss_approx()) {
65 ✗ BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol));
66 }
67 48 }
68
69 //----------------------------------------------------------------------------//
70
71 48 void register_contact_cost_model_unit_tests(
72 ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type,
73 ActivationModelTypes::Type activation_type,
74 ActuationModelTypes::Type actuation_type) {
75
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 48 boost::test_tools::output_test_stream test_name;
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 48 test_name << "test_" << cost_type << "_" << activation_type << "_"
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 48 << actuation_type << "_" << model_type;
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 48 std::cout << "Running " << test_name.str() << std::endl;
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 48 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
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 48 ts->add(BOOST_TEST_CASE(
81 boost::bind(&test_partial_derivatives_against_contact_numdiff, cost_type,
82 model_type, activation_type, actuation_type)));
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 48 framework::master_test_suite().add(ts);
84 48 }
85
86 1 bool init_function() {
87 // Test all the contact cost model. Note that we can do it only with humanoids
88 // as it needs to test the contact wrench cone
89
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 6 for (std::size_t cost_type = 0; cost_type < ContactCostModelTypes::all.size();
90 ++cost_type) {
91 35 for (std::size_t activation_type = 0;
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 35 activation_type <
93 ActivationModelTypes::ActivationModelQuadraticBarrier;
94 ++activation_type) {
95 30 register_contact_cost_model_unit_tests(
96 30 ContactCostModelTypes::all[cost_type], PinocchioModelTypes::Talos,
97 30 ActivationModelTypes::all[activation_type],
98 ActuationModelTypes::ActuationModelFloatingBase);
99 30 if (ContactCostModelTypes::all[cost_type] ==
100 24 ContactCostModelTypes::CostModelResidualContactForce ||
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 24 ContactCostModelTypes::all[cost_type] ==
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 54 ContactCostModelTypes::CostModelResidualContactFrictionCone ||
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 18 ContactCostModelTypes::all[cost_type] ==
104 ContactCostModelTypes::CostModelResidualContactControlGrav) {
105 18 register_contact_cost_model_unit_tests(
106 18 ContactCostModelTypes::all[cost_type], PinocchioModelTypes::HyQ,
107 18 ActivationModelTypes::all[activation_type],
108 ActuationModelTypes::ActuationModelFloatingBase);
109 }
110 }
111 }
112
113 1 return true;
114 }
115
116 1 int main(int argc, char** argv) {
117 1 return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
118 }
119