GCC Code Coverage Report

Directory:	./
File:	unittest/data.cpp
Date:	2025-04-30 16:14:33

	Exec	Total	Coverage
Lines:	107	107	100.0%
Branches:	484	942	51.4%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include "pinocchio/multibody/data.hpp"
6			#include "pinocchio/multibody/model.hpp"
7			#include "pinocchio/multibody/sample-models.hpp"
8
9			#include "pinocchio/algorithm/check.hpp"
10
11			#include <boost/test/unit_test.hpp>
12			#include <boost/utility/binary.hpp>
13
14			#include "utils/model-generator.hpp"
15
16			using namespace pinocchio;
17
18			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
19
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21			{
22	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model empty_model;
23	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data empty_data(empty_model);
24
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26		2	}
27
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29			{
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
32
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
34
35	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex joint_id = 1; joint_id < (Model::JointIndex)model.njoints; ++joint_id)
36			{
37	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	const int nv_joint = model.joints[joint_id].nv();
38	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	const int idx_joint = model.joints[joint_id].idx_v();
39
40	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 27 times.	118	for (int k = 0; k < nv_joint; ++k)
41			{
42	6/12 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 32 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 32 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 32 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 32 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 32 times.	64	BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint + k)] == idx_joint);
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44			}
45			}
46		2	}
47
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49			{
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
54
55	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (size_t k = 0; k < (size_t)model.nv; ++k)
56			{
57		64	const std::vector<int> & support = data.supports_fromRow[k];
58		64	const int parent_id = data.parents_fromRow[k];
59
60	2/2 ✓ Branch 0 taken 31 times. ✓ Branch 1 taken 1 times.	64	if (parent_id >= 0)
61			{
62		62	const std::vector<int> & support_parent = data.supports_fromRow[(size_t)parent_id];
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64	2/2 ✓ Branch 1 taken 256 times. ✓ Branch 2 taken 31 times.	574	for (size_t j = 0; j < support_parent.size(); ++j)
65			{
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67			}
68			}
69
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71			}
72		2	}
73
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75			{
76	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
77			{
78	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
79		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
80		12	const pinocchio::Model & model_full = mimic_test_case.model_full;
81
82	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Data data_mimic(model_mimic);
83	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Data data_full(model_full);
84
85	2/2 ✓ Branch 0 taken 162 times. ✓ Branch 1 taken 6 times.	336	for (size_t joint_id = 1; joint_id < model_mimic.njoints; joint_id++)
86			{
87	1/2 ✓ Branch 2 taken 162 times. ✗ Branch 3 not taken.	324	const int idx_vj = model_mimic.joints[joint_id].idx_v();
88	1/2 ✓ Branch 2 taken 162 times. ✗ Branch 3 not taken.	324	const int idx_vExtended_j = model_mimic.joints[joint_id].idx_vExtended();
89	1/2 ✓ Branch 2 taken 162 times. ✗ Branch 3 not taken.	324	const int nvExtended_j = model_mimic.joints[joint_id].nvExtended();
90	2/2 ✓ Branch 0 taken 192 times. ✓ Branch 1 taken 162 times.	708	for (int v = 0; v < nvExtended_j; v++)
91			{
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93			data_mimic.idx_vExtended_to_idx_v_fromRow[size_t(idx_vExtended_j + v)] == idx_vj + v);
94	6/12 ✓ Branch 1 taken 192 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 192 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 192 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 192 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 192 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 192 times.	384	BOOST_CHECK(
95			data_full.idx_vExtended_to_idx_v_fromRow[size_t(idx_vExtended_j + v)]
96			== idx_vExtended_j + v);
97			}
98			}
99		12	}
100		2	}
101
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103			{
104	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
105			{
106	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
107		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
108
109	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Data data_mimic(model_mimic);
110
111	2/2 ✓ Branch 0 taken 162 times. ✓ Branch 1 taken 6 times.	336	for (size_t joint_id = 1; joint_id < model_mimic.njoints; joint_id++)
112			{
113	1/2 ✓ Branch 2 taken 162 times. ✗ Branch 3 not taken.	324	const int idx_vExtended_j = model_mimic.joints[joint_id].idx_vExtended();
114	1/2 ✓ Branch 2 taken 162 times. ✗ Branch 3 not taken.	324	const int nvExtended_j = model_mimic.joints[joint_id].nvExtended();
115
116			// If the parent from row is not the universe, it should be either mimic or non mimic - not
117			// both
118		324	const bool parent_is_universe = (data_mimic.parents_fromRow[idx_vExtended_j] == -1);
119			const bool parent_is_mimic =
120		324	(data_mimic.mimic_parents_fromRow[idx_vExtended_j]
121		324	== data_mimic.parents_fromRow[idx_vExtended_j]);
122			const bool parent_is_not_mimic =
123		324	(data_mimic.non_mimic_parents_fromRow[idx_vExtended_j]
124		324	== data_mimic.parents_fromRow[idx_vExtended_j]);
125	9/16 ✓ Branch 1 taken 162 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 162 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 162 times. ✗ Branch 12 not taken. ✓ Branch 13 taken 156 times. ✓ Branch 14 taken 6 times. ✓ Branch 15 taken 156 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 162 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 162 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 162 times.	324	BOOST_CHECK(parent_is_universe \|\| (parent_is_mimic != parent_is_not_mimic));
126
127	2/2 ✓ Branch 0 taken 30 times. ✓ Branch 1 taken 162 times.	384	for (int v = 1; v < nvExtended_j; v++)
128			{
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130			data_mimic.mimic_parents_fromRow[size_t(idx_vExtended_j + v)] == idx_vExtended_j + v - 1);
131			}
132			}
133		12	}
134		2	}
135
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137			{
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
140
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_copy = data;
143
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146
147	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	data_copy.oMi[0].setRandom();
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149		2	}
150
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152			{
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
155
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
157
158		2	container::aligned_vector<Data::Force> & f = data.f;
159	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	data.f[0].setRandom();
160
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162		2	}
163
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165			{
166	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
168
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PINOCCHIO_ALIGNED_STD_VECTOR(Data) datas;
170	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (size_t k = 0; k < 20; ++k)
171	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	datas.push_back(Data(model));
172		2	}
173
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175			{
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(model);
178			// Direct parent/Child
179	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	4	std::vector<pinocchio::JointIndex> mimicked = {model.getJointId("shoulder1_joint")};
180	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	4	std::vector<pinocchio::JointIndex> mimicking = {model.getJointId("shoulder2_joint")};
181
182	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::vector<double> ratio = {2.5};
183	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::vector<double> offset = {0.75};
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model_mimic;
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildMimicModel(model, mimicked, mimicking, ratio, offset, model_mimic);
186
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_mimic(model_mimic);
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
189
190			// No mimic so should not be filled
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192
193			// it's a linear model with RX and RY so the joint after shoulder2 is not a mimic and is in its
194			// subtree
195	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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(data_mimic.mimic_subtree_joint[0] == model_mimic.getJointId("shoulder3_joint"));
196
197			// Test when mimic is terminal
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model man_mimic;
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(man_mimic, true);
200
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_man_mimic(man_mimic);
202	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(data_man_mimic.mimic_subtree_joint[0] == 0);
203		2	}
204
205			BOOST_AUTO_TEST_SUITE_END()
206