GCC Code Coverage Report

Directory:	./
File:	unittest/casadi/basic.cpp
Date:	2025-02-12 21:03:38

	Exec	Total	Coverage
Lines:	75	75	100.0%
Branches:	395	786	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include <pinocchio/autodiff/casadi.hpp>
6
7			#include <boost/variant.hpp> // to avoid C99 warnings
8
9			#include <iostream>
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
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16			{
17	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX a(1, 1);
18	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX b;
19
20	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::MX c;
21
22	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	b = a(0, 0);
23		2	}
24
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26			{
27	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<casadi::SX, 3, 3> A, B;
28	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<casadi::SX, 3, 1> a, b;
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30		2	}
31
32			// A function working with Eigen::Matrix'es parameterized by the Scalar type
33			template<typename Scalar, typename T1, typename T2, typename T3, typename T4>
34		1	Eigen::Matrix<Scalar, Eigen::Dynamic, 1> eigenFun(
35			Eigen::MatrixBase<T1> const & A,
36			Eigen::MatrixBase<T2> const & a,
37			Eigen::MatrixBase<T3> const & B,
38			Eigen::MatrixBase<T4> const & b)
39			{
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix<Scalar, Eigen::Dynamic, 1> c(4);
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42	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	c[0] = 0.;
43
44		1	return c;
45			}
46
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48			{
49			// Declare casadi symbolic matrix arguments
50	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_a = casadi::SX::sym("a", 4);
51	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_b = casadi::SX::sym("b", 3);
52
53			// Declare Eigen matrices
54	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<casadi::SX, 3, 3> A, B;
55	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<casadi::SX, -1, 1> a(4), c(4);
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<casadi::SX, 3, 1> b;
57
58			// Let A, B be some numeric matrices
59	2/2 ✓ Branch 1 taken 3 times. ✓ Branch 2 taken 1 times.	8	for (Eigen::Index i = 0; i < A.rows(); ++i)
60			{
61	2/2 ✓ Branch 1 taken 9 times. ✓ Branch 2 taken 3 times.	24	for (Eigen::Index j = 0; j < A.cols(); ++j)
62			{
63	3/6 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken.	18	A(i, j) = 10. * static_cast<double>(i) + static_cast<double>(j);
64	3/6 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken.	18	B(i, j) = -10. * static_cast<double>(i) - static_cast<double>(j);
65			}
66			}
67
68			// Let a, b be symbolic arguments of a function
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(cs_b, b);
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(cs_a, a);
71
72			// Call the function taking Eigen matrices
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	c = eigenFun<casadi::SX>(A, a, B, b);
74
75			// Copy the result from Eigen matrices to casadi matrix
76	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	casadi::SX cs_c = casadi::SX(casadi::Sparsity::dense(c.rows(), 1));
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(c, cs_c);
78
79			// Display the resulting casadi matrix
80	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << "c = " << cs_c << std::endl;
81
82			// Do some AD
83	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	casadi::SX dc_da = jacobian(cs_c, cs_a);
84
85			// Display the resulting jacobian
86	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << "dc/da = " << dc_da << std::endl;
87
88			// Create a function which takes a, b and returns c and dc_da
89	8/16 ✓ 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. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken.	16	casadi::Function fun("fun", casadi::SXVector{cs_a, cs_b}, casadi::SXVector{cs_c, dc_da});
90	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << "fun = " << fun << std::endl;
91
92			// Evaluate the function
93			casadi::DMVector res =
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95	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << "fun(a, b)=" << res << std::endl;
96		2	}
97
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99			{
100	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_x = casadi::SX::sym("x", 3);
101
102	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_y = casadi::SX::sym("y", 1);
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104
105			// Display the resulting expression
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107
108			// Do some AD
109	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	casadi::SX dy_dx = jacobian(cs_x, cs_x);
110
111			// Display the resulting jacobian
112	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << "dy/dx = " << dy_dx << std::endl;
113		2	}
114
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116			{
117	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_mat = casadi::SX::sym("A", 3, 4);
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<casadi::SX, 3, 4> eig_mat;
119
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121	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << eig_mat << std::endl;
122		2	}
123
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125			{
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<casadi::SX, 3, 4> eig_mat;
127	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	pinocchio::casadi::sym(eig_mat, "A");
128
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_mat;
130
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132	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << cs_mat << std::endl;
133		2	}
134
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136			{
137	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX x = casadi::SX::sym("x");
138	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX y = casadi::SX::sym("y");
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140
141	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	casadi::CodeGenerator gen("module");
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	gen.add(fun);
143
144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << gen.dump();
145		2	}
146
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148			{
149	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX x = casadi::SX::sym("x");
150	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX y = casadi::SX::sym("y");
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152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX max_x_y = pinocchio::math::max(x, y);
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX max_x_0 = pinocchio::math::max(x, 0.);
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX max_0_y = pinocchio::math::max(0., y);
155		2	}
156
157			BOOST_AUTO_TEST_SUITE_END()
158