GCC Code Coverage Report

Directory:	./
File:	unittest/test_wrench_cone.cpp
Date:	2025-01-16 08:47:40

	Exec	Total	Coverage
Lines:	163	169	96.4%
Branches:	484	950	50.9%

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 "crocoddyl/multibody/friction-cone.hpp"
17			#include "crocoddyl/multibody/wrench-cone.hpp"
18			#include "unittest_common.hpp"
19
20			using namespace boost::unit_test;
21			using namespace crocoddyl::unittest;
22
23		1	void test_constructor() {
24			// Common parameters
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
26		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
27	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));
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
29		1	bool inner_appr = false;
30
31			// No rotation
32	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();
33
34			// Create the wrench cone
35	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, box, nf, inner_appr);
36
37	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(cone.get_R().isApprox(R));
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39	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(cone.get_nf() == nf);
40	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(cone.get_box().isApprox(box));
41	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(cone.get_inner_appr() == inner_appr);
42	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 13);
43	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 13);
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45
46			// With rotation
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
50
51			// Create the wrench cone
52	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	cone = crocoddyl::WrenchCone(R, mu, box, nf, inner_appr);
53
54	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(cone.get_R().isApprox(R));
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57	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(cone.get_box().isApprox(box));
58	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(cone.get_inner_appr() == inner_appr);
59	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(static_cast<std::size_t>(cone.get_A().rows()) == nf + 13);
60	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(static_cast<std::size_t>(cone.get_lb().size()) == nf + 13);
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62
63			// Create the wrench cone from a reference
64			{
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone cone_reference(cone);
66
67	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_nf() == cone_reference.get_nf());
68	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(cone.get_A().isApprox(cone_reference.get_A()));
69	2/2 ✓ Branch 2 taken 43 times. ✓ Branch 3 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
70			++i) {
71	8/16 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 43 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 43 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 43 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 43 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 43 times.	43	BOOST_CHECK(cone.get_ub()[i] == cone_reference.get_ub()[i]);
72	8/16 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 43 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 43 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 43 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 43 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 43 times.	43	BOOST_CHECK(cone.get_lb()[i] == cone_reference.get_lb()[i]);
73			}
74	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(cone.get_R().isApprox(cone_reference.get_R()));
75	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(cone.get_box().isApprox(cone_reference.get_box()));
76	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	1	BOOST_CHECK(std::abs(cone.get_mu() - cone_reference.get_mu()) < 1e-9);
77	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_inner_appr() == cone_reference.get_inner_appr());
78	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	1	BOOST_CHECK(std::abs(cone.get_min_nforce() -
79			cone_reference.get_min_nforce()) < 1e-9);
80	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_max_nforce() == cone_reference.get_max_nforce());
81		1	}
82
83			// Create the wrench cone through the copy operator
84			{
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone cone_copy;
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	cone_copy = cone;
87
88	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_nf() == cone_copy.get_nf());
89	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(cone.get_A().isApprox(cone_copy.get_A()));
90	2/2 ✓ Branch 2 taken 43 times. ✓ Branch 3 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
91			++i) {
92	8/16 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 43 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 43 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 43 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 43 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 43 times.	43	BOOST_CHECK(cone.get_ub()[i] == cone_copy.get_ub()[i]);
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94			}
95	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(cone.get_R().isApprox(cone_copy.get_R()));
96	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(cone.get_box().isApprox(cone_copy.get_box()));
97	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	1	BOOST_CHECK(std::abs(cone.get_mu() - cone_copy.get_mu()) < 1e-9);
98	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_inner_appr() == cone_copy.get_inner_appr());
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100			1e-9);
101	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	1	BOOST_CHECK(cone.get_max_nforce() == cone_copy.get_max_nforce());
102		1	}
103		1	}
104
105		1	void test_against_friction_cone() {
106			// Common parameters
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
111		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
112	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));
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
114		1	bool inner_appr = true;
115
116			// Create wrench and friction cone
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.);
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone friction_cone(R, mu, nf, inner_appr, 0., 100.);
119
120	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 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 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	1	BOOST_CHECK((wrench_cone.get_R() - friction_cone.get_R()).isZero(1e-9));
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123	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
124	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 9 times.	36	for (std::size_t j = 0; j < 3; ++j) {
125	10/20 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 27 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 27 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 27 times.	27	BOOST_CHECK(wrench_cone.get_A().row(i)[j] ==
126			friction_cone.get_A().row(i)[j]);
127			}
128			}
129	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
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132			}
133		1	}
134
135		1	void test_against_cop_support() {
136			// Common parameters
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	Eigen::Matrix3d R = q.toRotationMatrix();
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
141		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
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	random_real_in_range(0.01, 0.1));
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
144		1	bool inner_appr = true;
145
146			// Create wrench and friction cone
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.);
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport cop_support(R, box);
149
150	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 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 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	1	BOOST_CHECK((wrench_cone.get_R() - cop_support.get_R()).isZero(1e-9));
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153	10/20 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 24 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 24 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 24 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 24 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 24 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 24 times. ✗ Branch 32 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 24 times.	24	BOOST_CHECK(wrench_cone.get_A().row(nf + i + 1)[j] ==
154			cop_support.get_A().row(i)[j]);
155			}
156			}
157	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
158	8/16 ✓ 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 19 taken 4 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 4 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 4 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 4 times.	4	BOOST_CHECK(wrench_cone.get_ub()[i + nf + 1] == cop_support.get_ub()[i]);
159	8/16 ✓ 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 19 taken 4 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 4 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 4 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 4 times.	4	BOOST_CHECK(wrench_cone.get_lb()[i + nf + 1] == cop_support.get_lb()[i]);
160			}
161		1	}
162
163		1	void test_force_along_wrench_cone_normal() {
164			// Create the wrench cone
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
166	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
169		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
170	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));
171	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
172
173			// Create the activation for quadratic barrier
174	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
176			boost::shared_ptr<crocoddyl::ActivationDataAbstract> data =
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
178
179			// Compute the activation value
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
182	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);
183	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	Eigen::VectorXd r = cone.get_A() * wrench;
184	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);
185
186			// The activation value has to be zero since the wrench is inside the wrench
187			// cone
188	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.);
189		1	}
190
191		1	void test_negative_force_along_wrench_cone_normal() {
192			// Create the wrench cone
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
197		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
198	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));
199	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
200
201			// Create the activation for quadratic barrier
202	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
204			boost::shared_ptr<crocoddyl::ActivationDataAbstract> data =
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
206
207			// Compute the activation value
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
210	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);
211	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	Eigen::VectorXd r = cone.get_A() * wrench;
212	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);
213
214			// The first nf elements of the residual has to be positive since the force is
215			// outside the wrench cone. Additionally, the last value has to be equals to
216			// the force norm but with negative value since the wrench is aligned and in
217			// opposite direction to the wrench cone orientation
218	2/2 ✓ Branch 1 taken 4 times. ✓ Branch 2 taken 1 times.	5	for (std::size_t i = 0; i < cone.get_nf(); ++i) {
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220			}
221
222			// The activation value has to be positive since the wrench is outside the
223			// wrench cone
224	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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226		1	}
227
228		1	void test_force_parallel_to_wrench_cone_normal() {
229			// Create the wrench cone
230	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();
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
232		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
233	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));
234	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
235
236			// Create the activation for quadratic barrier
237	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
239			boost::shared_ptr<crocoddyl::ActivationDataAbstract> data =
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
241
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
244	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.) * Eigen::Vector3d::UnitX();
245	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	Eigen::VectorXd r = cone.get_A() * wrench;
246
247			// The activation value has to be positive since the force is outside the
248			// wrench cone
249	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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251		1	}
252
253		1	void register_unit_tests() {
254		1	framework::master_test_suite().add(
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256		1	framework::master_test_suite().add(
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258		1	framework::master_test_suite().add(
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260		1	framework::master_test_suite().add(
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263			boost::bind(&test_negative_force_along_wrench_cone_normal)));
264		1	framework::master_test_suite().add(
265	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_parallel_to_wrench_cone_normal)));
266		1	}
267
268		1	bool init_function() {
269		1	register_unit_tests();
270		1	return true;
271			}
272
273		1	int main(int argc, char* argv[]) {
274		1	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
275			}
276