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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2023, LAAS-CNRS, University of Edinburgh |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#define BOOST_TEST_NO_MAIN |
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#define BOOST_TEST_ALTERNATIVE_INIT_API |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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#include "crocoddyl/multibody/data/multibody.hpp" |
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#include "factory/cost.hpp" |
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#include "unittest_common.hpp" |
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using namespace boost::unit_test; |
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using namespace crocoddyl::unittest; |
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//----------------------------------------------------------------------------// |
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void test_calc_returns_a_cost(CostModelCollisionTypes::Type cost_type, |
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StateModelTypes::Type state_type) { |
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// create the model |
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✓✗ | 4 |
CostModelFactory factory; |
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const boost::shared_ptr<crocoddyl::CostModelAbstract>& model = |
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✓✗ | 4 |
factory.create(cost_type, state_type); |
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// Run the print function |
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✓✗ | 4 |
std::ostringstream tmp; |
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✓✗ | 2 |
tmp << *model; |
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// create the corresponding data object |
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const boost::shared_ptr<crocoddyl::StateMultibody>& state = |
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boost::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
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pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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✓✗ | 4 |
pinocchio::Data pinocchio_data(pinocchio_model); |
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✓✗ | 4 |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data = |
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✓✗ | 4 |
model->createData(&shared_data); |
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data->cost = nan(""); |
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// Generating random values for the state and control |
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✓✗ | 4 |
const Eigen::VectorXd x = model->get_state()->rand(); |
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✓✗✓✗ |
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const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
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// Compute all the pinocchio function needed for the models. |
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✓✗✓✗ |
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crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
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// Getting the cost value computed by calc() |
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✓✗✓✗ ✓✗ |
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model->calc(data, x, u); |
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// Checking that calc returns a cost value |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK(!std::isnan(data->cost)); |
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} |
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void test_calc_against_numdiff(CostModelCollisionTypes::Type cost_type, |
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StateModelTypes::Type state_type) { |
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// create the model |
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✓✗ | 4 |
CostModelFactory factory; |
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const boost::shared_ptr<crocoddyl::CostModelAbstract>& model = |
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✓✗ | 4 |
factory.create(cost_type, state_type); |
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// create the corresponding data object |
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const boost::shared_ptr<crocoddyl::StateMultibody>& state = |
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boost::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
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pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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✓✗ | 4 |
pinocchio::Data pinocchio_data(pinocchio_model); |
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✓✗ | 4 |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data = |
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✓✗ | 4 |
model->createData(&shared_data); |
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// Create the equivalent num diff model and data. |
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✓✗ | 4 |
crocoddyl::CostModelNumDiff model_num_diff(model); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data_num_diff = |
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✓✗ | 4 |
model_num_diff.createData(&shared_data); |
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// Generating random values for the state and control |
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✓✗ | 4 |
const Eigen::VectorXd x = model->get_state()->rand(); |
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✓✗✓✗ |
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const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
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// Compute all the pinocchio function needed for the models. |
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✓✗✓✗ |
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crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
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// Computing the cost derivatives |
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✓✗✓✗ ✓✗ |
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model->calc(data, x, u); |
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✓✗✓✗ ✓✗ |
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model_num_diff.calc(data_num_diff, x, u); |
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// Checking the partial derivatives against NumDiff |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK(data->cost == data_num_diff->cost); |
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} |
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void test_partial_derivatives_against_numdiff( |
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CostModelCollisionTypes::Type cost_type, StateModelTypes::Type state_type) { |
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using namespace boost::placeholders; |
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// create the model |
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✓✗ | 4 |
CostModelFactory factory; |
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const boost::shared_ptr<crocoddyl::CostModelAbstract>& model = |
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✓✗ | 4 |
factory.create(cost_type, state_type); |
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// create the corresponding data object |
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const boost::shared_ptr<crocoddyl::StateMultibody>& state = |
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boost::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
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pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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✓✗ | 4 |
pinocchio::Data pinocchio_data(pinocchio_model); |
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✓✗ | 4 |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data = |
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✓✗ | 4 |
model->createData(&shared_data); |
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// Create the equivalent num diff model and data. |
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✓✗ | 4 |
crocoddyl::CostModelNumDiff model_num_diff(model); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data_num_diff = |
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✓✗ | 4 |
model_num_diff.createData(&shared_data); |
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// Generating random values for the state and control |
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✓✗ | 4 |
const Eigen::VectorXd x = model->get_state()->rand(); |
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✓✗✓✗ |
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const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
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// Compute all the pinocchio function needed for the models. |
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✓✗✓✗ |
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crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
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// set the function that needs to be called at every step of the numdiff |
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std::vector<crocoddyl::CostModelNumDiff::ReevaluationFunction> reevals; |
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✓✗✓✗ ✓✗ |
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reevals.push_back(boost::bind(&crocoddyl::unittest::updateAllPinocchio, |
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&pinocchio_model, &pinocchio_data, _1, _2)); |
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✓✗ | 2 |
model_num_diff.set_reevals(reevals); |
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// Computing the cost derivatives |
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✓✗✓✗ ✓✗ |
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model->calc(data, x, u); |
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✓✗✓✗ ✓✗ |
2 |
model->calcDiff(data, x, u); |
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✓✗✓✗ ✓✗ |
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model_num_diff.calc(data_num_diff, x, u); |
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✓✗✓✗ ✓✗ |
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model_num_diff.calcDiff(data_num_diff, x, u); |
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// Tolerance defined as in |
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// http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf |
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double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Lu - data_num_diff->Lu).isZero(tol)); |
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✓✗✓✗ |
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if (model_num_diff.get_with_gauss_approx()) { |
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// The num diff is not precise enough to be tested here. |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Lxu - data_num_diff->Lxu).isZero(tol)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Luu - data_num_diff->Luu).isZero(tol)); |
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} else { |
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BOOST_CHECK((data_num_diff->Lxx).isZero(tol)); |
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BOOST_CHECK((data_num_diff->Lxu).isZero(tol)); |
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BOOST_CHECK((data_num_diff->Luu).isZero(tol)); |
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} |
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} |
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void test_dimensions_in_cost_sum(CostModelCollisionTypes::Type cost_type, |
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StateModelTypes::Type state_type) { |
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// create the model |
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✓✗ | 4 |
CostModelFactory factory; |
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const boost::shared_ptr<crocoddyl::CostModelAbstract>& model = |
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✓✗ | 4 |
factory.create(cost_type, state_type); |
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// create the corresponding data object |
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const boost::shared_ptr<crocoddyl::StateMultibody>& state = |
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4 |
boost::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
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pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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✓✗ | 4 |
pinocchio::Data pinocchio_data(pinocchio_model); |
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✓✗ | 4 |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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// create the cost sum model |
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4 |
crocoddyl::CostModelSum cost_sum(state, model->get_nu()); |
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✓✗✓✗ |
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cost_sum.addCost("myCost", model, 1.); |
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// Generating random values for the state and control |
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✓✗ | 4 |
const Eigen::VectorXd x = state->rand(); |
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// Compute all the pinocchio function needed for the models. |
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✓✗✓✗ |
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crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(model->get_state()->get_nx() == cost_sum.get_state()->get_nx()); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(model->get_state()->get_ndx() == cost_sum.get_state()->get_ndx()); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK(model->get_nu() == cost_sum.get_nu()); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(model->get_state()->get_nq() == cost_sum.get_state()->get_nq()); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK(model->get_state()->get_nv() == cost_sum.get_state()->get_nv()); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(model->get_activation()->get_nr() == cost_sum.get_nr()); |
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} |
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void test_partial_derivatives_in_cost_sum( |
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CostModelCollisionTypes::Type cost_type, StateModelTypes::Type state_type) { |
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// create the model |
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✓✗ | 4 |
CostModelFactory factory; |
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const boost::shared_ptr<crocoddyl::CostModelAbstract>& model = |
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✓✗ | 4 |
factory.create(cost_type, state_type); |
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// create the corresponding data object |
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const boost::shared_ptr<crocoddyl::StateMultibody>& state = |
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4 |
boost::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
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2 |
pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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✓✗ | 4 |
pinocchio::Data pinocchio_data(pinocchio_model); |
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✓✗ | 4 |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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const boost::shared_ptr<crocoddyl::CostDataAbstract>& data = |
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✓✗ | 4 |
model->createData(&shared_data); |
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// create the cost sum model |
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4 |
crocoddyl::CostModelSum cost_sum(state, model->get_nu()); |
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✓✗✓✗ |
2 |
cost_sum.addCost("myCost", model, 1.); |
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const boost::shared_ptr<crocoddyl::CostDataSum>& data_sum = |
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✓✗ | 4 |
cost_sum.createData(&shared_data); |
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// Generating random values for the state and control |
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✓✗ | 4 |
const Eigen::VectorXd x = state->rand(); |
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✓✗✓✗ |
4 |
const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
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// Compute all the pinocchio function needed for the models. |
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✓✗✓✗ |
2 |
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
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// Computing the cost derivatives |
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✓✗✓✗ ✓✗ |
2 |
model->calc(data, x, u); |
215 |
✓✗✓✗ ✓✗ |
2 |
model->calcDiff(data, x, u); |
216 |
✓✗✓✗ ✓✗ |
2 |
cost_sum.calc(data_sum, x, u); |
217 |
✓✗✓✗ ✓✗ |
2 |
cost_sum.calcDiff(data_sum, x, u); |
218 |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Lx - data_sum->Lx).isZero()); |
220 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Lu - data_sum->Lu).isZero()); |
221 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Lxx - data_sum->Lxx).isZero()); |
222 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Lxu - data_sum->Lxu).isZero()); |
223 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((data->Luu - data_sum->Luu).isZero()); |
224 |
2 |
} |
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//----------------------------------------------------------------------------// |
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2 |
void register_cost_model_unit_tests(CostModelCollisionTypes::Type cost_type, |
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StateModelTypes::Type state_type) { |
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✓✗✓✗ |
4 |
boost::test_tools::output_test_stream test_name; |
231 |
✓✗✓✗ ✓✗✓✗ |
2 |
test_name << "test_" << cost_type << "_2norm_barrier_" << state_type; |
232 |
✓✗✓✗ ✓✗✓✗ |
2 |
std::cout << "Running " << test_name.str() << std::endl; |
233 |
✓✗✓✗ ✓✗✓✗ |
2 |
test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
234 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
ts->add(BOOST_TEST_CASE( |
235 |
boost::bind(&test_calc_returns_a_cost, cost_type, state_type))); |
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236 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
ts->add(BOOST_TEST_CASE( |
237 |
boost::bind(&test_calc_against_numdiff, cost_type, state_type))); |
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238 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_against_numdiff, |
239 |
cost_type, state_type))); |
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240 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
ts->add(BOOST_TEST_CASE( |
241 |
boost::bind(&test_dimensions_in_cost_sum, cost_type, state_type))); |
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242 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_in_cost_sum, |
243 |
cost_type, state_type))); |
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244 |
✓✗✓✗ ✓✗ |
2 |
framework::master_test_suite().add(ts); |
245 |
2 |
} |
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246 |
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247 |
1 |
bool init_function() { |
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248 |
// Test all costs available with all the activation types with all available |
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249 |
// states types. |
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250 |
✓✓ | 2 |
for (size_t cost_type = 0; cost_type < CostModelCollisionTypes::all.size(); |
251 |
++cost_type) { |
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252 |
1 |
register_cost_model_unit_tests(CostModelCollisionTypes::all[cost_type], |
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253 |
StateModelTypes::StateMultibody_HyQ); |
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254 |
1 |
register_cost_model_unit_tests( |
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255 |
1 |
CostModelCollisionTypes::all[cost_type], |
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256 |
StateModelTypes::StateMultibody_RandomHumanoid); |
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257 |
} |
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258 |
1 |
return true; |
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259 |
} |
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260 |
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261 |
1 |
int main(int argc, char** argv) { |
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262 |
1 |
return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
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263 |
} |
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264 |
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265 |
#else |
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266 |
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int main(int, char**) {} |
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#endif // PINOCCHIO_WITH_HPP_FCL |
Generated by: GCOVR (Version 4.2) |