GCC Code Coverage Report

Directory: ./
File: unittest/sample-models.cpp
Date: 2025-04-30 16:14:33
Exec Total Coverage
Lines: 44 53 83.0%
Branches: 207 434 47.7%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2018 CNRS
3 //
4
5 #include <iostream>
6
7 #include "pinocchio/multibody/model.hpp"
8 #include "pinocchio/algorithm/joint-configuration.hpp"
9 #include "pinocchio/algorithm/kinematics.hpp"
10 #include "pinocchio/algorithm/geometry.hpp"
11 #include "pinocchio/multibody/sample-models.hpp"
12 #include <pinocchio/algorithm/rnea.hpp>
13 #include <pinocchio/algorithm/crba.hpp>
14
15 #include <boost/test/unit_test.hpp>
16 #include <boost/variant.hpp>
17
18 // Helper functions to map reduced to full model
19 Eigen::VectorXd
20 ✗ toFull(const Eigen::VectorXd & vec, int mimPrim, int mimSec, double scaling, double offset)
21 {
22 ✗ Eigen::VectorXd vecFull(vec.size() + 1);
23 ✗ vecFull << vec.head(mimSec), scaling * vec[mimPrim] + offset, vec.tail(vec.size() - mimSec);
24 ✗ return vecFull;
25 }
26
27 ✗ Eigen::MatrixXd create_G(const pinocchio::Model & model, const pinocchio::Model & modelMimic)
28 {
29 ✗ Eigen::MatrixXd G = Eigen::MatrixXd::Zero(model.nv, modelMimic.nv);
30 ✗ for (int i = 0; i < modelMimic.nv; ++i)
31 ✗ G(i, i) = 1;
32
33 ✗ return G;
34 }
35
36 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
37
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 4 BOOST_AUTO_TEST_CASE(build_model_sample_humanoid_random)
39 {
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 2 pinocchio::Model model;
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 2 pinocchio::buildModels::humanoidRandom(model, true);
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 2 BOOST_CHECK(model.nq == 33);
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 2 BOOST_CHECK(model.nv == 32);
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 2 pinocchio::buildModels::humanoidRandom(modelff, false);
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 2 BOOST_CHECK(modelff.nq == 32);
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 2 BOOST_CHECK(modelff.nv == 32);
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 2 BOOST_CHECK(modelMimic.nq == 32);
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 2 BOOST_CHECK(modelMimic.nv == 31);
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 2 pinocchio::buildModels::humanoidRandom(modelMimicff, false, true);
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 2 BOOST_CHECK(modelMimicff.nq == 31);
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 2 BOOST_CHECK(modelMimicff.nv == 31);
63 2 }
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 4 BOOST_AUTO_TEST_CASE(build_model_sample_manipulator)
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 2 pinocchio::buildModels::manipulator(model);
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 2 BOOST_CHECK(model.nq == 6);
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 2 BOOST_CHECK(model.nv == 6);
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 2 BOOST_CHECK(model_m.nq == 5);
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 2 BOOST_CHECK(model_m.nv == 5);
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79 #ifdef PINOCCHIO_WITH_HPP_FCL
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 2 pinocchio::buildModels::manipulatorGeometries(model, geom);
83 #endif
84 2 }
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 4 BOOST_AUTO_TEST_CASE(build_model_sample_humanoid)
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 2 BOOST_CHECK(model.nq == 35);
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 2 BOOST_CHECK(model.nv == 34);
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95 #ifdef PINOCCHIO_WITH_HPP_FCL
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103 #endif
104
105 /* We might want to check here the joint namings, and validate the
106 * direct geometry with respect to reference values. */
107 2 }
108
109 BOOST_AUTO_TEST_SUITE_END()
110