GCC Code Coverage Report

Directory: ./
File: tests/test-polynomial.cpp
Date: 2025-06-05 17:24:53
Exec Total Coverage
Lines: 32 32 100.0%
Functions: 5 5 100.0%
Branches: 162 324 50.0%
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1 // #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
2
3 #define EIGEN_RUNTIME_NO_MALLOC
4 #define BOOST_TEST_MODULE test_polynomial
5
6 #include <boost/test/included/unit_test.hpp>
7 #include <random>
8
9 #include "ndcurves/polynomial.h"
10
11 using namespace ndcurves;
12
13 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
15 4 double generateRandomNumber(double lower, double upper) {
16 // Some random number
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 4 std::random_device rd;
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 4 std::mt19937 gen(rd());
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 4 std::uniform_real_distribution<> dist(lower, upper);
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 8 return dist(gen);
21 4 }
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 4 BOOST_AUTO_TEST_CASE(default_constructor) {
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 2 polynomial1_t traj;
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 2 BOOST_CHECK_EQUAL(traj.dim(), 0);
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 2 BOOST_CHECK_EQUAL(traj.min(), 0.0);
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 2 BOOST_CHECK_EQUAL(traj.max(), 1.0);
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 2 BOOST_CHECK_EQUAL(traj.degree(), 0);
29 2 }
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 4 BOOST_AUTO_TEST_CASE(min_jerk_constructor) {
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 2 double t_min = generateRandomNumber(0.0, 100.0);
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 2 double t_max = t_min + generateRandomNumber(0.1, 10.0);
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 2 double init = generateRandomNumber(-100.0, 100.0);
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 2 double end = generateRandomNumber(-100.0, 100.0);
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37 polynomial1_t traj =
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 2 polynomial1_t::MinimumJerk(point1_t(init), point1_t(end), t_min, t_max);
39
40 // Real-time critical
41 2 Eigen::internal::set_is_malloc_allowed(false);
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 2 BOOST_CHECK_EQUAL(traj.dim(), 1);
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 2 BOOST_CHECK_EQUAL(traj.min(), t_min);
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 2 BOOST_CHECK_EQUAL(traj.max(), t_max);
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 2 BOOST_CHECK_EQUAL(traj.degree(), 5);
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 2 BOOST_CHECK_EQUAL(traj(traj.min())[0], init);
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 2 BOOST_CHECK_CLOSE(traj(traj.max())[0], end, 1e-8);
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 2 BOOST_CHECK_EQUAL(traj.derivate(traj.min(), 1)[0], 0.0);
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 2 BOOST_CHECK_LE(std::abs(traj.derivate(traj.max(), 1)[0]), 1e-8);
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 2 BOOST_CHECK_EQUAL(traj.derivate(traj.min(), 2)[0], 0.0);
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 2 BOOST_CHECK_LE(std::abs(traj.derivate(traj.max(), 2)[0]), 1e-8);
52 2 Eigen::internal::set_is_malloc_allowed(true);
53 2 }
54
55 BOOST_AUTO_TEST_SUITE_END()
56
57 // #endif // CURVES_WITH_PINOCCHIO_SUPPORT
58