GCC Code Coverage Report

Directory:	./
File:	unittest/test_cop_support.cpp
Date:	2025-03-26 19:23:43

	Exec	Total	Coverage
Lines:	132	135	97.8%
Branches:	523	1034	50.6%

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2021-2025, University of Edinburgh, University of Oxford,
5			// Heriot-Watt University
6			// Copyright note valid unless otherwise stated in individual files.
7			// All rights reserved.
8			///////////////////////////////////////////////////////////////////////////////
9
10			#define BOOST_TEST_NO_MAIN
11			#define BOOST_TEST_ALTERNATIVE_INIT_API
12
13			#include <pinocchio/math/quaternion.hpp>
14
15			#include "crocoddyl/core/activations/quadratic-barrier.hpp"
16			#include "crocoddyl/multibody/cop-support.hpp"
17			#include "unittest_common.hpp"
18
19			using namespace boost::unit_test;
20			using namespace crocoddyl::unittest;
21
22		1	void test_constructor() {
23			// Common parameters
24		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
25	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	random_real_in_range(0.01, 0.1));
26
27			// No rotation
28	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
29
30			// Create the CoP support support
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support(R, box);
32	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport casted_support = support.cast<double>();
33
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39
40			// Checking that casted computation is the same
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46
47			// With rotation
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
51
52			// Create the wrench support
53	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	support = crocoddyl::CoPSupport(R, box);
54	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_support = support.cast<double>();
55
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61
62			// Checking that casted computation is the same
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68
69			// Create the wrench support from a reference
70			{
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_from_reference(support);
72	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_support = support_from_reference.cast<double>();
73
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77		5	for (std::size_t i = 0;
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81			}
82
83			// Checking that casted computation is the same
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85			casted_support.get_R().isApprox(support_from_reference.get_R()));
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87			casted_support.get_box().isApprox(support_from_reference.get_box()));
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89			casted_support.get_A().isApprox(support_from_reference.get_A()));
90		5	for (std::size_t i = 0;
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93			support_from_reference.get_ub()[i]);
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95			support_from_reference.get_lb()[i]);
96			}
97		1	}
98
99			// Create the wrench support through the copy operator
100			{
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_from_copy;
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	support_from_copy = support;
103	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_support = support_from_copy.cast<double>();
104
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108		5	for (std::size_t i = 0;
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112			}
113
114			// Checking that casted computation is the same
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118		5	for (std::size_t i = 0;
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122			}
123		1	}
124		1	}
125
126		1	void test_A_matrix_with_rotation_change() {
127			// Common parameters
128		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
129	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	random_real_in_range(0.01, 0.1));
130
131			// No rotation
132	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_1(R, box);
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport casted_support_1 = support_1.cast<double>();
135
136			// With rotation
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_2(R, box);
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport casted_support_2 = support_2.cast<double>();
142
143	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
144	15/30 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 4 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 4 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 4 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 4 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 4 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 4 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 4 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 4 times. ✗ Branch 45 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 4 times.	4	BOOST_CHECK((support_1.get_A().row(i).head<3>() -
145			support_2.get_A().row(i).head<3>() * R)
146			.isZero(1e-9));
147			}
148
149			// Checking that casted computation is the same
150	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
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152			casted_support_2.get_A().row(i).head<3>() * R)
153			.isZero(1e-9));
154			}
155		1	}
156
157		1	void test_cop_within_the_support_region() {
158			// Create the CoP support with a random orientation
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
162		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
163	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	random_real_in_range(0.01, 0.1));
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support(R, box);
165
166			// Create the activation for quadratic barrier
167	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	crocoddyl::ActivationBounds bounds(support.get_lb(), support.get_ub());
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
169			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
171			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
173			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
175
176			// Compute the activation value with a force along the contact normal
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
179	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	1	wrench.template head<3>() = random_real_in_range(0., 100.) * R.col(2);
180	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	Eigen::VectorXd r = support.get_A() * wrench;
181	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
182	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(data->a_value == 0.);
183
184			// Checking that casted computation is the same
185	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
186	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(casted_data->a_value == 0.);
187
188			// Create the CoP support with no rotation
189	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	R = Eigen::Matrix3d::Identity();
190	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	support = crocoddyl::CoPSupport(R, box);
191
192			// Compute the activation value with a small enough torque in X
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
194	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	wrench(5) = random_real_in_range(0., 100.);
195	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	wrench(0) = (box(0) - 1e-9) * wrench(5) / 2.;
196	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	r = support.get_A() * wrench;
197	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
198	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(data->a_value == 0.);
199
200			// Checking that casted computation is the same
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
202	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(casted_data->a_value == 0.);
203
204			// Compute the activation value with a small enough torque in Y
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	wrench(5) = random_real_in_range(0., 100.);
207	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	wrench(1) = (box(1) - 1e-9) * wrench(5) / 2.;
208	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	r = support.get_A() * wrench;
209	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
210	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK(data->a_value == 0.);
211
212			// Checking that casted computation is the same
213	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
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215		1	}
216
217		1	void register_unit_tests() {
218		1	framework::master_test_suite().add(
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220		1	framework::master_test_suite().add(
221	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_A_matrix_with_rotation_change)));
222		1	framework::master_test_suite().add(
223	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_cop_within_the_support_region)));
224		1	}
225
226		1	bool init_function() {
227		1	register_unit_tests();
228		1	return true;
229			}
230
231		1	int main(int argc, char* argv[]) {
232		1	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
233			}
234