GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	91	91	100.0%
Branches:	359	714	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2022 INRIA
3			//
4
5			#include <iostream>
6
7			#include "pinocchio/algorithm/geometry.hpp"
8			#include "pinocchio/parsers/urdf.hpp"
9			#include "pinocchio/parsers/srdf.hpp"
10
11			#include "pinocchio/collision/collision.hpp"
12			#include "pinocchio/collision/distance.hpp"
13			#include "pinocchio/collision/broadphase-manager.hpp"
14			#include "pinocchio/collision/broadphase.hpp"
15
16			#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
17
18			#include <vector>
19			#include <boost/test/unit_test.hpp>
20
21			using namespace pinocchio;
22
23			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
24
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26			{
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
30
31			BroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> broadphase_manager(
32	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	&model, &geom_model, &geom_data);
33
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35		2	}
36
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38			{
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
42
43	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	hpp::fcl::CollisionGeometryPtr_t sphere_ptr(new hpp::fcl::Sphere(0.5));
44	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	sphere_ptr->computeLocalAABB();
45	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	hpp::fcl::CollisionGeometryPtr_t box_ptr(new hpp::fcl::Box(0.5, 0.5, 0.5));
46	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	box_ptr->computeLocalAABB();
47
48	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken.	4	GeometryObject obj1("obj1", 0, SE3::Identity(), sphere_ptr);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const GeomIndex obj1_index = geom_model.addGeometryObject(obj1);
50
51	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken.	4	GeometryObject obj2("obj2", 0, SE3::Identity(), box_ptr);
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const GeomIndex obj2_index = geom_model.addGeometryObject(obj2);
53
54		2	GeometryObject & go = geom_model.geometryObjects[obj1_index];
55
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGeometryPlacements(model, data, geom_model, geom_data);
58
59			BroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> broadphase_manager(
60	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	&model, &geom_model, &geom_data);
61	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(broadphase_manager.check());
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63
64	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	hpp::fcl::CollisionGeometryPtr_t sphere_new_ptr(new hpp::fcl::Sphere(5.));
65	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	sphere_new_ptr->computeLocalAABB();
66		2	go.geometry = sphere_new_ptr;
67	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(!broadphase_manager.check());
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70			broadphase_manager.getCollisionObjects()[obj1_index].collisionGeometry().get()
71			== sphere_ptr.get());
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73			broadphase_manager.getCollisionObjects()[obj2_index].collisionGeometry().get()
74			== box_ptr.get());
75			// BOOST_CHECK(broadphase_manager.getObjects()[obj1_index]->collisionGeometry().get() ==
76			// sphere_ptr.get());
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78			broadphase_manager.getCollisionObjects()[obj1_index].collisionGeometry().get()
79			!= go.geometry.get());
80	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK(sphere_new_ptr.get() == go.geometry.get());
81
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	broadphase_manager.update(false);
83	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(
84			broadphase_manager.getCollisionObjects()[obj1_index].collisionGeometry().get()
85			!= sphere_ptr.get());
86	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(
87			broadphase_manager.getCollisionObjects()[obj1_index].collisionGeometry().get()
88			== go.geometry.get());
89			// BOOST_CHECK(broadphase_manager.getObjects()[obj_index]->collisionGeometry().get() ==
90			// go.geometry.get());
91
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93		2	}
94
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96			{
97			const std::string filename =
98			PINOCCHIO_MODEL_DIR
99	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
100		2	std::vector<std::string> packageDirs;
101	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
103			const std::string srdf_filename =
104			PINOCCHIO_MODEL_DIR
105	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf");
106
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
108	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
110	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false);
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
115
116			typedef BroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> BroadPhaseManager;
117	2/2 ✓ Branch 0 taken 33 times. ✓ Branch 1 taken 1 times.	68	for (size_t joint_id = 0; joint_id < (size_t)model.njoints; ++joint_id)
118			{
119		66	const GeometryObjectFilterSelectByJoint filter(joint_id);
120	1/2 ✓ Branch 1 taken 33 times. ✗ Branch 2 not taken.	66	BroadPhaseManager manager(&model, &geom_model, &geom_data, filter);
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122		66	}
123		2	}
124
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126			{
127			const std::string filename =
128			PINOCCHIO_MODEL_DIR
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130		2	std::vector<std::string> packageDirs;
131	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
133			const std::string srdf_filename =
134			PINOCCHIO_MODEL_DIR
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136
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
138	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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
140	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs);
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false);
143
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
145	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	GeometryData geom_data(geom_model), geom_data_broadphase(geom_model);
146
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false);
148	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
149
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q);
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data_broadphase, q);
152
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155
156			BroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> broadphase_manager(
157	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	&model, &geom_model, &geom_data_broadphase);
158	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 << "map:\n" << geom_model.collisionPairMapping << std::endl;
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163
164		2	const int num_configs = 1000;
165	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_configs; ++i)
166			{
167	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Eigen::VectorXd q_rand = randomConfiguration(model);
168	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	q_rand.head<7>() = q.head<7>();
169
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171			computeCollisions(model, data, broadphase_manager, q_rand)
172			== computeCollisions(model, data, geom_model, geom_data, q_rand));
173		2000	}
174		2	}
175
176			BOOST_AUTO_TEST_SUITE_END()
177