GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	206	206	100.0%
Branches:	804	1588	50.6%

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		1	void test_constructor() {
23			// Common parameters
24	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
26		1	bool inner_appr = false;
27
28			// No rotation
29	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();
30
31			// Create the friction cone with rotation and surface normal
32	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
34
35	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	1	BOOST_CHECK(cone.get_R().isApprox(R));
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42
43			// Checking that casted computation is the same
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51
52			// With rotation
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
56
57			// Create the friction cone
58	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	cone = crocoddyl::FrictionCone(R, mu, nf, inner_appr);
59	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone.cast<double>();
60
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68
69			// Checking that casted computation is the same
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77
78			// Create the friction cone from a reference
79			{
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone cone_reference(cone);
81	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone_reference.cast<double>();
82
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85	3/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31 times. ✓ Branch 5 taken 1 times.	32	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
86			++i) {
87	10/20 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 31 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 31 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 31 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 31 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 31 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 31 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 31 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 31 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 31 times.	31	BOOST_CHECK(cone.get_ub()[i] == cone_reference.get_ub()[i]);
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89			}
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94			cone_reference.get_min_nforce()) < 1e-9);
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96
97			// Checking that casted computation is the same
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100	3/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31 times. ✓ Branch 5 taken 1 times.	32	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
101			++i) {
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104			}
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107			1e-9);
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110			cone_reference.get_min_nforce()) < 1e-9);
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112			cone_reference.get_max_nforce());
113		1	}
114
115			// Create the friction cone through the copy operator
116			{
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone cone_copy;
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	cone_copy = cone;
119	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone_copy.cast<double>();
120
121	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(cone.get_nf() == cone_copy.get_nf());
122	9/18 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(cone.get_A().isApprox(cone_copy.get_A()));
123	3/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31 times. ✓ Branch 5 taken 1 times.	32	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
124			++i) {
125	10/20 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 31 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 31 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 31 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 31 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 31 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 31 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 31 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 31 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 31 times.	31	BOOST_CHECK(cone.get_ub()[i] == cone_copy.get_ub()[i]);
126	10/20 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 31 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 31 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 31 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 31 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 31 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 31 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 31 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 31 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 31 times.	31	BOOST_CHECK(cone.get_lb()[i] == cone_copy.get_lb()[i]);
127			}
128	9/18 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(cone.get_R().isApprox(cone_copy.get_R()));
129	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	1	BOOST_CHECK(std::abs(cone.get_mu() - cone_copy.get_mu()) < 1e-9);
130	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(cone.get_inner_appr() == cone_copy.get_inner_appr());
131	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	1	BOOST_CHECK(std::abs(cone.get_min_nforce() - cone_copy.get_min_nforce()) <
132			1e-9);
133	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(cone.get_max_nforce() == cone_copy.get_max_nforce());
134
135			// Checking that casted computation is the same
136	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(casted_cone.get_nf() == cone_copy.get_nf());
137	9/18 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_A().isApprox(cone_copy.get_A()));
138	3/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31 times. ✓ Branch 5 taken 1 times.	32	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
139			++i) {
140	10/20 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 31 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 31 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 31 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 31 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 31 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 31 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 31 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 31 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 31 times.	31	BOOST_CHECK(casted_cone.get_ub()[i] == cone_copy.get_ub()[i]);
141	10/20 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 31 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 31 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 31 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 31 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 31 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 31 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 31 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 31 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 31 times.	31	BOOST_CHECK(casted_cone.get_lb()[i] == cone_copy.get_lb()[i]);
142			}
143	9/18 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_R().isApprox(cone_copy.get_R()));
144	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	1	BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_copy.get_mu()) < 1e-9);
145	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(casted_cone.get_inner_appr() == cone_copy.get_inner_appr());
146	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	1	BOOST_CHECK(std::abs(casted_cone.get_min_nforce() -
147			cone_copy.get_min_nforce()) < 1e-9);
148	8/16 ✓ 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 14 taken 1 times. ✗ Branch 15 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(casted_cone.get_max_nforce() == cone_copy.get_max_nforce());
149		1	}
150		1	}
151
152		1	void test_inner_approximation_of_friction_cone() {
153	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();
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
156		1	bool inner_appr = true;
157	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
159	4/8 ✓ 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.	1	const Eigen::VectorXd A_mu = -cone.get_A().col(2);
160	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	33	for (std::size_t i = 0; i < nf; ++i) {
161	7/14 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 32 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 32 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 32 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 32 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 32 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 32 times.	32	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	4/8 ✓ 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.	1	const Eigen::VectorXd A_mu_casted = -cone.get_A().col(2);
169	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	33	for (std::size_t i = 0; i < nf; ++i) {
170	7/14 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 32 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 32 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 32 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 32 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 32 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 32 times.	32	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		1	}
176
177		1	void test_A_matrix_with_rotation_change() {
178			// Common parameters
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
181		1	bool inner_appr = false;
182
183			// No rotation
184	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();
185	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone_1(R, mu, nf, inner_appr);
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone_1 = cone_1.cast<double>();
187
188			// With rotation
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
192	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone_2(R, mu, nf, inner_appr);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone_2 = cone_2.cast<double>();
194
195	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 1 times.	6	for (std::size_t i = 0; i < 5; ++i) {
196	13/26 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 5 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 5 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 5 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 5 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 5 times. ✗ Branch 39 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 5 times.	5	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	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 1 times.	6	for (std::size_t i = 0; i < 5; ++i) {
202	13/26 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 5 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 5 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 5 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 5 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 5 times. ✗ Branch 39 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 5 times.	5	BOOST_CHECK(
203			(casted_cone_1.get_A().row(i) - casted_cone_2.get_A().row(i) * R)
204			.isZero(1e-9));
205			}
206		1	}
207
208		1	void test_force_along_friction_cone_normal() {
209			// Create the friction cone
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
215		1	bool inner_appr = false;
216	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
217
218			// Create the activation for quadratic barrier
219	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	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
221			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
223			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
225			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
227
228			// Compute the activation value
229	4/8 ✓ 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.	1	Eigen::Vector3d force = random_real_in_range(0., 100.) * R.col(2);
230	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 = cone.get_A() * force;
231	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);
232
233			// The activation value has to be zero since the force is inside the friction
234			// cone
235	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.);
236
237			// Checking that casted computation is the same
238	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);
239	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.);
240		1	}
241
242		1	void test_negative_force_along_friction_cone_normal() {
243			// Create the friction cone
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
249		1	bool inner_appr = false;
250	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
252
253			// Create the activation for quadratic barrier
254	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	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
256			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
258			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
260			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
262
263			// Compute the activation value
264	4/8 ✓ 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.	1	Eigen::Vector3d force = -random_real_in_range(0., 100.) * R.col(2);
265	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 = 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	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	33	for (std::size_t i = 0; i < nf; ++i) {
272	7/14 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 32 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 32 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 32 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 32 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 32 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 32 times.	32	BOOST_CHECK(r(i) > 0.);
273			}
274	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	1	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	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);
279	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.);
280
281			// Checking that casted computation is the same
282	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 = casted_cone.get_A() * force;
283	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	33	for (std::size_t i = 0; i < nf; ++i) {
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285			}
286	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	1	BOOST_CHECK_CLOSE(r(nf), -force.norm(), 1e-9);
287	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);
288	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.);
289		1	}
290
291		1	void test_force_parallel_to_friction_cone_normal() {
292			// Create the friction cone
293	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();
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
296		1	bool inner_appr = false;
297	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::FrictionCone cone(R, mu, nf, inner_appr);
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone casted_cone = cone.cast<double>();
299
300			// Create the activation for quadratic barrier
301	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	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
303			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
305			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
307			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
309
310			// Compute the activation value
311			Eigen::Vector3d force =
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313	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 = 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	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 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 23 not taken. ✓ Branch 24 taken 1 times.	1	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	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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323
324			// Checking that casted computation is the same
325	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 = casted_cone.get_A() * force;
326	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 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 23 not taken. ✓ Branch 24 taken 1 times.	1	BOOST_CHECK_CLOSE(r(nf), 0., 1e-9);
327	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);
328	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.);
329		1	}
330
331		1	void register_unit_tests() {
332		1	framework::master_test_suite().add(
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334		1	framework::master_test_suite().add(
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336		1	framework::master_test_suite().add(
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338		1	framework::master_test_suite().add(
339	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_force_along_friction_cone_normal)));
340	4/8 ✓ 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	framework::master_test_suite().add(BOOST_TEST_CASE(
341			boost::bind(&test_negative_force_along_friction_cone_normal)));
342	4/8 ✓ 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	framework::master_test_suite().add(BOOST_TEST_CASE(
343			boost::bind(&test_force_parallel_to_friction_cone_normal)));
344		1	}
345
346		1	bool init_function() {
347		1	register_unit_tests();
348		1	return true;
349			}
350
351		1	int main(int argc, char* argv[]) {
352		1	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
353			}
354