GCC Code Coverage Report

Directory: ./
File: unittest/test_impulse_constraints.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 38 38 100.0%
Branches: 66 124 53.2%
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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/impulse_constraint.hpp"
13 #include "unittest_common.hpp"
14
15 using namespace boost::unit_test;
16 using namespace crocoddyl::unittest;
17
18 //----------------------------------------------------------------------------//
19
20 12 void test_partial_derivatives_against_impulse_numdiff(
21 ImpulseConstraintModelTypes::Type constraint_type,
22 PinocchioModelTypes::Type model_type) {
23 // create the model
24 const std::shared_ptr<crocoddyl::ActionModelAbstract> &model =
25
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 12 ImpulseConstraintModelFactory().create(constraint_type, model_type);
26
27 // create the corresponding data object and set the constraint to nan
28 const std::shared_ptr<crocoddyl::ActionDataAbstract> &data =
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 12 model->createData();
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 12 crocoddyl::ActionModelNumDiff model_num_diff(model);
32 const std::shared_ptr<crocoddyl::ActionDataAbstract> &data_num_diff =
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 12 model_num_diff.createData();
34
35 // Generating random values for the state and control
36
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 12 const Eigen::VectorXd x = model->get_state()->rand();
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 12 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
38
39 // Computing the action derivatives
40
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 12 model->calc(data, x, u);
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 12 model->calcDiff(data, x, u);
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 12 model_num_diff.calc(data_num_diff, x, u);
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 12 model_num_diff.calcDiff(data_num_diff, x, u);
44 // Tolerance defined as in
45 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
46 12 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
47
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 12 BOOST_CHECK((data->Gx - data_num_diff->Gx).isZero(tol));
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 12 BOOST_CHECK((data->Hx - data_num_diff->Hx).isZero(tol));
49 12 }
50
51 //----------------------------------------------------------------------------//
52
53 12 void register_impulse_constraint_model_unit_tests(
54 ImpulseConstraintModelTypes::Type constraint_type,
55 PinocchioModelTypes::Type model_type) {
56
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 12 boost::test_tools::output_test_stream test_name;
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 12 test_name << "test_" << constraint_type << "_" << model_type;
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 12 std::cout << "Running " << test_name.str() << std::endl;
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 12 test_suite *ts = BOOST_TEST_SUITE(test_name.str());
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 12 ts->add(BOOST_TEST_CASE(
61 boost::bind(&test_partial_derivatives_against_impulse_numdiff,
62 constraint_type, model_type)));
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 12 framework::master_test_suite().add(ts);
64 12 }
65
66 1 bool init_function() {
67 // Test all the impulse constraint model. Note that we can do it only with
68 // humanoids as it needs to test the impulse wrench cone
69 6 for (size_t constraint_type = 0;
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 6 constraint_type < ImpulseConstraintModelTypes::all.size();
71 ++constraint_type) {
72 5 register_impulse_constraint_model_unit_tests(
73 5 ImpulseConstraintModelTypes::all[constraint_type],
74 PinocchioModelTypes::Talos);
75 5 register_impulse_constraint_model_unit_tests(
76 5 ImpulseConstraintModelTypes::all[constraint_type],
77 PinocchioModelTypes::RandomHumanoid);
78 5 if (ImpulseConstraintModelTypes::all[constraint_type] ==
79 ImpulseConstraintModelTypes::
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 9 ConstraintModelResidualImpulseForceEquality ||
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 4 ImpulseConstraintModelTypes::all[constraint_type] ==
82 ImpulseConstraintModelTypes::
83 ConstraintModelResidualImpulseFrictionConeInequality) {
84 2 register_impulse_constraint_model_unit_tests(
85 2 ImpulseConstraintModelTypes::all[constraint_type],
86 PinocchioModelTypes::HyQ);
87 }
88 }
89
90 1 return true;
91 }
92
93 1 int main(int argc, char **argv) {
94 1 return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
95 }
96