GCC Code Coverage Report

Directory:	./
File:	unittest/geometry.cpp
Date:	2025-04-05 01:06:26

	Exec	Total	Coverage
Lines:	41	41	100.0%
Branches:	166	332	50.0%

Line	Branch	Exec	Source
1			// Copyright (c) 2015-2018, CNRS
2			// Authors: Justin Carpentier <jcarpent@laas.fr>
3			//
4			#include <iostream>
5
6			#define BOOST_TEST_MODULE StatsTests
7			#include <boost/test/unit_test.hpp>
8			#include <boost/utility/binary.hpp>
9
10			#include "multicontact-api/geometry/linear-cone.hpp"
11			#include "multicontact-api/geometry/second-order-cone.hpp"
12
13			using namespace multicontact_api::geometry;
14
15			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
16
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18			using std::fabs;
19			typedef ForceCone::Matrix3x Matrix3x;
20			// typedef WrenchCone::Matrix6x Matrix6x;
21			typedef ForceCone::Index Index;
22			typedef ForceCone::SE3 SE3;
23			// typedef ForceCone::Scalar Scalar;
24
25		2	const Index size = 10;
26	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Matrix3x rays(Matrix3x::Random(3, size));
27
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ForceCone C3(rays);
29	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.	2	BOOST_CHECK(C3.size() == size);
30	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(C3.isApprox(C3));
31
32			// Transform a ForceCone to a Wrench Cone
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 M1(SE3::Identity());
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	WrenchCone C6 = C3.SE3ActOn(M1);
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 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.	2	BOOST_CHECK(C6.linear().isApprox(C3.rays()));
36
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 M2(SE3::Random());
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C6 = C3.SE3ActOn(M2);
39	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	WrenchCone C6_inv = C6.SE3ActOn(M2.inverse());
40
41	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 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.	2	BOOST_CHECK(C6_inv.linear().isApprox(C3.rays()));
42
43			// Export force cone to txt file
44	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string txt_filename = "C3_in.txt";
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C3.saveAsText(txt_filename);
46
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ForceCone C3_from_txt(0);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C3_from_txt.loadFromText(txt_filename);
49
50	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(C3_from_txt.isApprox(C3));
51
52			// Export gmm to xml file
53	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string xml_filename = "C3_in.xml";
54	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	C3.saveAsXML(xml_filename, "ForceCone");
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56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ForceCone C3_from_xml(0);
57	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	C3_from_xml.loadFromXML(xml_filename, "ForceCone");
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59	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(C3_from_xml.isApprox(C3));
60
61			// Export gmm to binary file
62	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string bin_filename = "gmm_in.bin";
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C3.saveAsBinary(bin_filename);
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65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ForceCone C3_from_bin(0);
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C3_from_bin.loadFromBinary(bin_filename);
67
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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(C3_from_bin.isApprox(C3));
69		2	}
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72		2	const double mu = 0.3;
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SOC3d::VectorD direction(0., 0., 1.);
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75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SOC3d cone3 = SOC3d::RegularCone(mu, direction);
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77	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 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 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(cone3.check(direction));
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79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SOC3d::VectorD x(direction);
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	x[0] = mu;
81	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 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 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(cone3.check(x));
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83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	x[0] = 0.;
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	x[1] = mu;
85	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 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 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(cone3.check(x));
86		2	}
87
88			BOOST_AUTO_TEST_SUITE_END()
89