GCC Code Coverage Report

Directory:	./
File:	unittest/test_cop_support.cpp
Date:	2025-01-30 11:01:55

	Exec	Total	Coverage
Lines:	92	95	96.8%
Branches:	258	510	50.6%

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2021, University of Edinburgh, University of Oxford
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 <pinocchio/math/quaternion.hpp>
13
14			#include "crocoddyl/core/activations/quadratic-barrier.hpp"
15			#include "crocoddyl/multibody/cop-support.hpp"
16			#include "unittest_common.hpp"
17
18			using namespace boost::unit_test;
19			using namespace crocoddyl::unittest;
20
21		1	void test_constructor() {
22			// Common parameters
23		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
24	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));
25
26			// No rotation
27	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();
28
29			// Create the CoP support support
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support(R, box);
31
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37
38			// With rotation
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
42
43			// Create the wrench support
44	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);
45
46	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	1	BOOST_CHECK(support.get_R().isApprox(R));
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51
52			// Create the wrench support from a reference
53			{
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_from_reference(support);
55
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59		5	for (std::size_t i = 0;
60	2/2 ✓ Branch 2 taken 4 times. ✓ Branch 3 taken 1 times.	5	i < static_cast<std::size_t>(support.get_ub().size()); ++i) {
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63			}
64		1	}
65
66			// Create the wrench support through the copy operator
67			{
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_from_copy;
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	support_from_copy = support;
70
71	7/14 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(support.get_R().isApprox(support_from_copy.get_R()));
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74		5	for (std::size_t i = 0;
75	2/2 ✓ Branch 2 taken 4 times. ✓ Branch 3 taken 1 times.	5	i < static_cast<std::size_t>(support.get_ub().size()); ++i) {
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78			}
79		1	}
80		1	}
81
82		1	void test_A_matrix_with_rotation_change() {
83			// Common parameters
84		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
85	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));
86
87			// No rotation
88	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();
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_1(R, box);
90
91			// With rotation
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support_2(R, box);
96
97	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
98	13/26 ✓ 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 15 taken 4 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 4 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 4 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 4 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 4 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 4 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 4 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 4 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 4 times. ✗ Branch 41 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 4 times.	4	BOOST_CHECK((support_1.get_A().row(i).head(3) -
99			support_2.get_A().row(i).head(3) * R)
100			.isZero(1e-9));
101			}
102		1	}
103
104		1	void test_cop_within_the_support_region() {
105			// Create the CoP support with a random orientation
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
109		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
110	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));
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport support(R, box);
112
113			// Create the activation for quadratic barrier
114	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	crocoddyl::ActivationBounds bounds(support.get_lb(), support.get_ub());
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
116			std::shared_ptr<crocoddyl::ActivationDataAbstract> data =
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
118
119			// Compute the activation value with a force along the contact normal
120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
122	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.head(3) = random_real_in_range(0., 100.) * R.col(2);
123	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	Eigen::VectorXd r = support.get_A() * wrench;
124	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);
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126
127			// Create the CoP support with no rotation
128	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();
129	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);
130
131			// Compute the activation value with a small enough torque in X
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
133	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.);
134	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.;
135	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	r = support.get_A() * wrench;
136	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);
137	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.);
138
139			// Compute the activation value with a small enough torque in Y
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
141	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.);
142	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.;
143	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	r = support.get_A() * wrench;
144	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);
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146		1	}
147
148		1	void register_unit_tests() {
149		1	framework::master_test_suite().add(
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151		1	framework::master_test_suite().add(
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153		1	framework::master_test_suite().add(
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155		1	}
156
157		1	bool init_function() {
158		1	register_unit_tests();
159		1	return true;
160			}
161
162		1	int main(int argc, char* argv[]) {
163		1	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
164			}
165