GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2025, 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/friction-cone.hpp"
17			#include "unittest_common.hpp"
18
19			using namespace boost::unit_test;
20			using namespace crocoddyl::unittest;
21
22		✗	void test_constructor() {
23			// Common parameters
24		✗	double mu = random_real_in_range(0.01, 1.);
25		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
26		✗	bool inner_appr = false;
27
28			// No rotation
29		✗	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
30
31			// Create the friction cone with rotation and surface normal
32		✗	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
33		✗	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
34
35		✗	BOOST_CHECK(cone.get_R().isApprox(R));
36		✗	BOOST_CHECK(cone.get_mu() == mu);
37		✗	BOOST_CHECK(cone.get_nf() == nf);
38		✗	BOOST_CHECK(cone.get_inner_appr() == inner_appr);
39		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 1);
40		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 1);
41		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_ub().size()) == nf + 1);
42
43			// Checking that casted computation is the same
44		✗	BOOST_CHECK(casted_cone.get_R().isApprox(R));
45		✗	BOOST_CHECK(casted_cone.get_mu() == mu);
46		✗	BOOST_CHECK(casted_cone.get_nf() == nf);
47		✗	BOOST_CHECK(casted_cone.get_inner_appr() == inner_appr);
48		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_A().rows()) == nf + 1);
49		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_lb().size()) == nf + 1);
50		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_ub().size()) == nf + 1);
51
52			// With rotation
53		✗	Eigen::Quaterniond q;
54		✗	pinocchio::quaternion::uniformRandom(q);
55		✗	R = q.toRotationMatrix();
56
57			// Create the friction cone
58		✗	cone = crocoddyl::FrictionCone(R, mu, nf, inner_appr);
59		✗	casted_cone = cone.cast<double>();
60
61		✗	BOOST_CHECK(cone.get_R().isApprox(R));
62		✗	BOOST_CHECK(cone.get_mu() == mu);
63		✗	BOOST_CHECK(cone.get_nf() == nf);
64		✗	BOOST_CHECK(cone.get_inner_appr() == inner_appr);
65		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 1);
66		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 1);
67		✗	BOOST_CHECK(static_cast<std::size_t>(cone.get_ub().size()) == nf + 1);
68
69			// Checking that casted computation is the same
70		✗	BOOST_CHECK(casted_cone.get_R().isApprox(R));
71		✗	BOOST_CHECK(casted_cone.get_mu() == mu);
72		✗	BOOST_CHECK(casted_cone.get_nf() == nf);
73		✗	BOOST_CHECK(casted_cone.get_inner_appr() == inner_appr);
74		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_A().rows()) == nf + 1);
75		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_lb().size()) == nf + 1);
76		✗	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_ub().size()) == nf + 1);
77
78			// Create the friction cone from a reference
79			{
80		✗	crocoddyl::FrictionCone cone_reference(cone);
81		✗	casted_cone = cone_reference.cast<double>();
82
83		✗	BOOST_CHECK(cone.get_nf() == cone_reference.get_nf());
84		✗	BOOST_CHECK(cone.get_A().isApprox(cone_reference.get_A()));
85		✗	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
86			++i) {
87		✗	BOOST_CHECK(cone.get_ub()[i] == cone_reference.get_ub()[i]);
88		✗	BOOST_CHECK(cone.get_lb()[i] == cone_reference.get_lb()[i]);
89			}
90		✗	BOOST_CHECK(cone.get_R().isApprox(cone_reference.get_R()));
91		✗	BOOST_CHECK(std::abs(cone.get_mu() - cone_reference.get_mu()) < 1e-9);
92		✗	BOOST_CHECK(cone.get_inner_appr() == cone_reference.get_inner_appr());
93		✗	BOOST_CHECK(std::abs(cone.get_min_nforce() -
94			cone_reference.get_min_nforce()) < 1e-9);
95		✗	BOOST_CHECK(cone.get_max_nforce() == cone_reference.get_max_nforce());
96
97			// Checking that casted computation is the same
98		✗	BOOST_CHECK(casted_cone.get_nf() == cone_reference.get_nf());
99		✗	BOOST_CHECK(casted_cone.get_A().isApprox(cone_reference.get_A()));
100		✗	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
101			++i) {
102		✗	BOOST_CHECK(casted_cone.get_ub()[i] == cone_reference.get_ub()[i]);
103		✗	BOOST_CHECK(casted_cone.get_lb()[i] == cone_reference.get_lb()[i]);
104			}
105		✗	BOOST_CHECK(casted_cone.get_R().isApprox(cone_reference.get_R()));
106		✗	BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_reference.get_mu()) <
107			1e-9);
108		✗	BOOST_CHECK(cone.get_inner_appr() == cone_reference.get_inner_appr());
109		✗	BOOST_CHECK(std::abs(casted_cone.get_min_nforce() -
110			cone_reference.get_min_nforce()) < 1e-9);
111		✗	BOOST_CHECK(casted_cone.get_max_nforce() ==
112			cone_reference.get_max_nforce());
113		✗	}
114
115			// Create the friction cone through the copy operator
116			{
117		✗	crocoddyl::FrictionCone cone_copy;
118		✗	cone_copy = cone;
119		✗	casted_cone = cone_copy.cast<double>();
120
121		✗	BOOST_CHECK(cone.get_nf() == cone_copy.get_nf());
122		✗	BOOST_CHECK(cone.get_A().isApprox(cone_copy.get_A()));
123		✗	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
124			++i) {
125		✗	BOOST_CHECK(cone.get_ub()[i] == cone_copy.get_ub()[i]);
126		✗	BOOST_CHECK(cone.get_lb()[i] == cone_copy.get_lb()[i]);
127			}
128		✗	BOOST_CHECK(cone.get_R().isApprox(cone_copy.get_R()));
129		✗	BOOST_CHECK(std::abs(cone.get_mu() - cone_copy.get_mu()) < 1e-9);
130		✗	BOOST_CHECK(cone.get_inner_appr() == cone_copy.get_inner_appr());
131		✗	BOOST_CHECK(std::abs(cone.get_min_nforce() - cone_copy.get_min_nforce()) <
132			1e-9);
133		✗	BOOST_CHECK(cone.get_max_nforce() == cone_copy.get_max_nforce());
134
135			// Checking that casted computation is the same
136		✗	BOOST_CHECK(casted_cone.get_nf() == cone_copy.get_nf());
137		✗	BOOST_CHECK(casted_cone.get_A().isApprox(cone_copy.get_A()));
138		✗	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
139			++i) {
140		✗	BOOST_CHECK(casted_cone.get_ub()[i] == cone_copy.get_ub()[i]);
141		✗	BOOST_CHECK(casted_cone.get_lb()[i] == cone_copy.get_lb()[i]);
142			}
143		✗	BOOST_CHECK(casted_cone.get_R().isApprox(cone_copy.get_R()));
144		✗	BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_copy.get_mu()) < 1e-9);
145		✗	BOOST_CHECK(casted_cone.get_inner_appr() == cone_copy.get_inner_appr());
146		✗	BOOST_CHECK(std::abs(casted_cone.get_min_nforce() -
147			cone_copy.get_min_nforce()) < 1e-9);
148		✗	BOOST_CHECK(casted_cone.get_max_nforce() == cone_copy.get_max_nforce());
149		✗	}
150		✗	}
151
152		✗	void test_inner_approximation_of_friction_cone() {
153		✗	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
154		✗	double mu = random_real_in_range(0.01, 1.);
155		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
156		✗	bool inner_appr = true;
157		✗	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
158		✗	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
159		✗	const Eigen::VectorXd A_mu = -cone.get_A().col(2);
160		✗	for (std::size_t i = 0; i < nf; ++i) {
161		✗	BOOST_CHECK_CLOSE(
162			A_mu(i),
163			mu * cos((2 * crocoddyl::pi<double>() / static_cast<double>(nf)) / 2.),
164			1e-9);
165			}
166
167			// Checking that casted computation is the same
168		✗	const Eigen::VectorXd A_mu_casted = -cone.get_A().col(2);
169		✗	for (std::size_t i = 0; i < nf; ++i) {
170		✗	BOOST_CHECK_CLOSE(
171			A_mu_casted(i),
172			mu * cos((2 * crocoddyl::pi<double>() / static_cast<double>(nf)) / 2.),
173			1e-9);
174			}
175		✗	}
176
177		✗	void test_A_matrix_with_rotation_change() {
178			// Common parameters
179		✗	double mu = random_real_in_range(0.01, 1.);
180		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
181		✗	bool inner_appr = false;
182
183			// No rotation
184		✗	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
185		✗	crocoddyl::FrictionCone cone_1(R, mu, nf, inner_appr);
186		✗	crocoddyl::FrictionCone casted_cone_1 = cone_1.cast<double>();
187
188			// With rotation
189		✗	Eigen::Quaterniond q;
190		✗	pinocchio::quaternion::uniformRandom(q);
191		✗	R = q.toRotationMatrix();
192		✗	crocoddyl::FrictionCone cone_2(R, mu, nf, inner_appr);
193		✗	crocoddyl::FrictionCone casted_cone_2 = cone_2.cast<double>();
194
195		✗	for (std::size_t i = 0; i < 5; ++i) {
196		✗	BOOST_CHECK(
197			(cone_1.get_A().row(i) - cone_2.get_A().row(i) * R).isZero(1e-9));
198			}
199
200			// Checking that casted computation is the same
201		✗	for (std::size_t i = 0; i < 5; ++i) {
202		✗	BOOST_CHECK(
203			(casted_cone_1.get_A().row(i) - casted_cone_2.get_A().row(i) * R)
204			.isZero(1e-9));
205			}
206		✗	}
207
208		✗	void test_force_along_friction_cone_normal() {
209			// Create the friction cone
210		✗	Eigen::Quaterniond q;
211		✗	pinocchio::quaternion::uniformRandom(q);
212		✗	Eigen::Matrix3d R = q.toRotationMatrix();
213		✗	double mu = random_real_in_range(0.01, 1.);
214		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
215		✗	bool inner_appr = false;
216		✗	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
217
218			// Create the activation for quadratic barrier
219		✗	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
220		✗	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
221			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
222		✗	activation.cast<double>();
223			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
224		✗	activation.createData();
225			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
226		✗	casted_activation.createData();
227
228			// Compute the activation value
229		✗	Eigen::Vector3d force = random_real_in_range(0., 100.) * R.col(2);
230		✗	Eigen::VectorXd r = cone.get_A() * force;
231		✗	activation.calc(data, r);
232
233			// The activation value has to be zero since the force is inside the friction
234			// cone
235		✗	BOOST_CHECK(data->a_value == 0.);
236
237			// Checking that casted computation is the same
238		✗	casted_activation.calc(casted_data, r);
239		✗	BOOST_CHECK(casted_data->a_value == 0.);
240		✗	}
241
242		✗	void test_negative_force_along_friction_cone_normal() {
243			// Create the friction cone
244		✗	Eigen::Quaterniond q;
245		✗	pinocchio::quaternion::uniformRandom(q);
246		✗	Eigen::Matrix3d R = q.toRotationMatrix();
247		✗	double mu = random_real_in_range(0.01, 1.);
248		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
249		✗	bool inner_appr = false;
250		✗	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
251		✗	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
252
253			// Create the activation for quadratic barrier
254		✗	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
255		✗	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
256			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
257		✗	activation.cast<double>();
258			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
259		✗	activation.createData();
260			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
261		✗	casted_activation.createData();
262
263			// Compute the activation value
264		✗	Eigen::Vector3d force = -random_real_in_range(0., 100.) * R.col(2);
265		✗	Eigen::VectorXd r = cone.get_A() * force;
266
267			// The first nf elements of the residual has to be positive since the force is
268			// outside the friction cone. Additionally, the last value has to be equals to
269			// the force norm but with negative value since the forces is aligned and in
270			// opposite direction to the friction cone orientation
271		✗	for (std::size_t i = 0; i < nf; ++i) {
272		✗	BOOST_CHECK(r(i) > 0.);
273			}
274		✗	BOOST_CHECK_CLOSE(r(nf), -force.norm(), 1e-9);
275
276			// The activation value has to be positive since the force is outside the
277			// friction cone
278		✗	activation.calc(data, r);
279		✗	BOOST_CHECK(data->a_value > 0.);
280
281			// Checking that casted computation is the same
282		✗	r = casted_cone.get_A() * force;
283		✗	for (std::size_t i = 0; i < nf; ++i) {
284		✗	BOOST_CHECK(r(i) > 0.);
285			}
286		✗	BOOST_CHECK_CLOSE(r(nf), -force.norm(), 1e-9);
287		✗	casted_activation.calc(casted_data, r);
288		✗	BOOST_CHECK(casted_data->a_value > 0.);
289		✗	}
290
291		✗	void test_force_parallel_to_friction_cone_normal() {
292			// Create the friction cone
293		✗	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
294		✗	double mu = random_real_in_range(0.01, 1.);
295		✗	std::size_t nf = 2 * random_int_in_range(2, 16);
296		✗	bool inner_appr = false;
297		✗	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
298		✗	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
299
300			// Create the activation for quadratic barrier
301		✗	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
302		✗	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
303			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
304		✗	activation.cast<double>();
305			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
306		✗	activation.createData();
307			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
308		✗	casted_activation.createData();
309
310			// Compute the activation value
311			Eigen::Vector3d force =
312		✗	-random_real_in_range(0., 100.) * Eigen::Vector3d::UnitX();
313		✗	Eigen::VectorXd r = cone.get_A() * force;
314
315			// The last value of the residual is equals to zero since the force is
316			// parallel to the friction cone orientation
317		✗	BOOST_CHECK_CLOSE(r(nf), 0., 1e-9);
318
319			// The activation value has to be positive since the force is outside the
320			// friction cone
321		✗	activation.calc(data, r);
322		✗	BOOST_CHECK(data->a_value > 0.);
323
324			// Checking that casted computation is the same
325		✗	r = casted_cone.get_A() * force;
326		✗	BOOST_CHECK_CLOSE(r(nf), 0., 1e-9);
327		✗	casted_activation.calc(casted_data, r);
328		✗	BOOST_CHECK(casted_data->a_value > 0.);
329		✗	}
330
331		✗	void register_unit_tests() {
332		✗	framework::master_test_suite().add(
333		✗	BOOST_TEST_CASE(boost::bind(&test_constructor)));
334		✗	framework::master_test_suite().add(
335		✗	BOOST_TEST_CASE(boost::bind(&test_inner_approximation_of_friction_cone)));
336		✗	framework::master_test_suite().add(
337		✗	BOOST_TEST_CASE(boost::bind(&test_A_matrix_with_rotation_change)));
338		✗	framework::master_test_suite().add(
339		✗	BOOST_TEST_CASE(boost::bind(&test_force_along_friction_cone_normal)));
340		✗	framework::master_test_suite().add(BOOST_TEST_CASE(
341			boost::bind(&test_negative_force_along_friction_cone_normal)));
342		✗	framework::master_test_suite().add(BOOST_TEST_CASE(
343			boost::bind(&test_force_parallel_to_friction_cone_normal)));
344		✗	}
345
346		✗	bool init_function() {
347		✗	register_unit_tests();
348		✗	return true;
349			}
350
351		✗	int main(int argc, char* argv[]) {
352		✗	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
353			}
354