GCC Code Coverage Report

Directory: ./
File: unittest/cartesian-product-liegroups.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 69 69 100.0%
Branches: 263 508 51.8%
Line Branch Exec Source
1 //
2 // Copyright (c) 2020 INRIA
3 //
4
5 #include "pinocchio/multibody/liegroup/liegroup.hpp"
6 #include "pinocchio/multibody/liegroup/liegroup-collection.hpp"
7 #include "pinocchio/multibody/liegroup/liegroup-generic.hpp"
8 #include "pinocchio/multibody/liegroup/cartesian-product-variant.hpp"
9 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
10
11 #include "pinocchio/multibody/joint/joint-generic.hpp"
12
13 #include <iostream>
14 #include <boost/test/unit_test.hpp>
15 #include <boost/utility/binary.hpp>
16 #include <boost/algorithm/string.hpp>
17
18 using namespace pinocchio;
19
20 namespace pinocchio
21 {
22 template<typename Derived>
23 1 std::ostream & operator<<(std::ostream & os, const LieGroupBase<Derived> & lg)
24 {
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 1 return os << lg.name();
26 }
27 template<typename LieGroupCollection>
28 std::ostream & operator<<(std::ostream & os, const LieGroupGenericTpl<LieGroupCollection> & lg)
29 {
30 return os << lg.name();
31 }
32 } // namespace pinocchio
33
34 template<typename Scalar, int Options, template<typename S, int O> class LieGroupCollectionTpl>
35 struct TestCartesianProduct
36 {
37
38 typedef LieGroupCollectionTpl<Scalar, Options> LieGroupCollection;
39
40 typedef LieGroupGenericTpl<LieGroupCollection> LieGroupGeneric;
41 typedef typename LieGroupGeneric::ConfigVector_t ConfigVector_t;
42 typedef typename LieGroupGeneric::TangentVector_t TangentVector_t;
43
44 typedef CartesianProductOperationVariantTpl<Scalar, Options, LieGroupCollectionTpl>
45 CartesianProduct;
46
47 template<typename Derived>
48 16 void operator()(const LieGroupBase<Derived> & lg) const
49 {
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 16 LieGroupGenericTpl<LieGroupCollection> lg_generic(lg.derived());
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 16 CartesianProduct cp(lg_generic);
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 16 test(lg, cp);
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 16 CartesianProduct cp2;
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 16 cp2.append(lg);
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 16 BOOST_CHECK(cp == cp2);
57 16 }
58
59 template<typename LieGroup>
60 18 static void test(const LieGroupBase<LieGroup> & lg, const CartesianProduct & cp)
61 {
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 18 BOOST_CHECK(lg.nq() == cp.nq());
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 18 BOOST_CHECK(lg.nv() == cp.nv());
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 18 std::cout << "name: " << cp.name() << std::endl;
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 18 BOOST_CHECK(lg.neutral() == cp.neutral());
68
69 typedef typename LieGroup::ConfigVector_t ConfigVector;
70 typedef typename LieGroup::TangentVector_t TangentVector;
71 typedef typename LieGroup::JacobianMatrix_t JacobianMatrix;
72
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 18 ConfigVector q0 = lg.random();
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 18 ConfigVector q1 = lg.random();
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 18 TangentVector v = TangentVector_t::Random(lg.nv());
76 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
77 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
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 18 ConfigVector qout_ref(lg.nq()), qout(lg.nq());
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 18 lg.integrate(q0, v, qout_ref);
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 18 cp.integrate(q0, v, qout);
81 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
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 18 BOOST_CHECK(qout.isApprox(qout_ref));
84
85 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
86 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
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 18 TangentVector v_diff_ref(lg.nv()), v_diff(lg.nv());
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 18 lg.difference(q0, q1, v_diff_ref);
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 18 cp.difference(q0, q1, v_diff);
90 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
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 18 BOOST_CHECK(v_diff_ref.isApprox(v_diff));
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 18 BOOST_CHECK_EQUAL(lg.squaredDistance(q0, q1), cp.squaredDistance(q0, q1));
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 18 BOOST_CHECK_EQUAL(lg.distance(q0, q1), cp.distance(q0, q1));
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 18 JacobianMatrix J_ref(JacobianMatrix::Zero(lg.nv(), lg.nv())),
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 18 J(JacobianMatrix::Zero(lg.nv(), lg.nv()));
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 18 lg.dDifference(q0, q1, J_ref, ARG0);
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 18 cp.dDifference(q0, q1, J, ARG0);
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 18 BOOST_CHECK(J.isApprox(J_ref));
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 18 lg.dDifference(q0, q1, J_ref, ARG1);
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 18 cp.dDifference(q0, q1, J, ARG1);
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 18 BOOST_CHECK(J.isApprox(J_ref));
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 18 lg.dIntegrate(q0, v, J_ref, ARG0);
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 18 cp.dIntegrate(q0, v, J, ARG0);
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 18 BOOST_CHECK(J.isApprox(J_ref));
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 18 lg.dIntegrate(q0, v, J_ref, ARG1);
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 18 cp.dIntegrate(q0, v, J, ARG1);
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 18 BOOST_CHECK(J.isApprox(J_ref));
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 18 BOOST_CHECK(cp.isSameConfiguration(q0, q0));
120 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
121 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
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 18 ConfigVector q_rand;
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 18 cp.random(q_rand);
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 18 ConfigVector q_rand_copy = q_rand;
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 18 lg.normalize(q_rand_copy);
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 18 cp.normalize(q_rand);
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 18 BOOST_CHECK(q_rand.isApprox(q_rand_copy));
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 18 const ConfigVector lb(-ConfigVector::Ones(lg.nq()));
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 18 const ConfigVector ub(ConfigVector::Ones(lg.nq()));
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 18 cp.randomConfiguration(lb, ub, q_rand);
134 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
135 18 }
136 };
137
138 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
139
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 4 BOOST_AUTO_TEST_CASE(test_cartesian_product_with_liegroup_variant)
141 {
142 2 boost::mpl::for_each<LieGroupCollectionDefault::LieGroupVariant::types>(
143 TestCartesianProduct<double, 0, LieGroupCollectionDefaultTpl>());
144 2 }
145
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 4 BOOST_AUTO_TEST_CASE(test_cartesian_product_vs_cartesian_product_variant)
147 {
148 typedef SpecialEuclideanOperationTpl<3, double, 0> SE3;
149 typedef VectorSpaceOperationTpl<3, double, 0> Rn;
150
151 typedef CartesianProductOperation<SE3, Rn> CPRef;
152 typedef CartesianProductOperationVariantTpl<double, 0, LieGroupCollectionDefaultTpl> CP;
153
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 2 SE3 lg1;
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 2 Rn lg2;
156 typedef LieGroupGenericTpl<CP::LieGroupCollection> LieGroupGeneric;
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 2 LieGroupGeneric lg1_variant(lg1);
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 2 LieGroupGeneric lg2_variant(lg2);
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 2 CP cartesian_product(lg1_variant, lg2_variant);
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 2 CP cartesian_product2(lg1_variant);
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 2 cartesian_product2.append(lg2_variant);
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 2 std::cout << "cartesian_product: " << cartesian_product << std::endl;
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 2 BOOST_CHECK(cartesian_product == cartesian_product2);
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 2 CPRef cartesian_product_ref;
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 2 TestCartesianProduct<double, 0, LieGroupCollectionDefaultTpl>::test(
169 cartesian_product_ref, cartesian_product);
170 2 }
171
172 BOOST_AUTO_TEST_SUITE_END()
173