GCC Code Coverage Report

Directory: ./
File: include/pinocchio/algorithm/check.hxx
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 67 79 84.8%
Branches: 82 156 52.6%
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1 //
2 // Copyright (c) 2016-2020 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_check_hxx__
6 #define __pinocchio_check_hxx__
7
8 #include <boost/fusion/algorithm.hpp>
9 #include <boost/foreach.hpp>
10
11 namespace pinocchio
12 {
13 namespace internal
14 {
15 // Dedicated structure for the fusion::accumulate algorithm: validate the check-algorithm
16 // for all elements in a fusion list of AlgoCheckers.
17 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
18 struct AlgoFusionChecker
19 {
20 typedef bool result_type;
21 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
22 const Model & model;
23
24 ✗ AlgoFusionChecker(const Model & model)
25 ✗ : model(model)
26 {
27 }
28
29 inline bool operator()(const bool & accumul, const boost::fusion::void_ &) const
30 {
31 return accumul;
32 }
33
34 template<typename T>
35 ✗ inline bool operator()(const bool & accumul, const AlgorithmCheckerBase<T> & t) const
36 {
37 ✗ return accumul && t.checkModel(model);
38 }
39 };
40 } // namespace internal
41
42 // Check the validity of the kinematic tree defined by parents.
43 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
44 inline bool
45 ✗ ParentChecker::checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
46 {
47 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
48 typedef typename Model::JointIndex JointIndex;
49
50 ✗ for (JointIndex j = 1; j < (JointIndex)model.njoints; ++j)
51 ✗ if (model.parents[j] >= j)
52 ✗ return false;
53
54 ✗ return true;
55 }
56
57 #if !defined(BOOST_FUSION_HAS_VARIADIC_LIST)
58 template<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, class T)>
59 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
60 bool AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, T)>::
61 checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
62 {
63 return boost::fusion::accumulate(
64 checkerList, true, internal::AlgoFusionChecker<Scalar, Options, JointCollectionTpl>(model));
65 }
66 #else
67 template<class... T>
68 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
69 ✗ bool AlgorithmCheckerList<T...>::checkModel_impl(
70 const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
71 {
72 ✗ return boost::fusion::accumulate(
73 ✗ checkerList, true, internal::AlgoFusionChecker<Scalar, Options, JointCollectionTpl>(model));
74 }
75 #endif
76
77 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
78 42592 inline bool checkData(
79 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
80 const DataTpl<Scalar, Options, JointCollectionTpl> & data)
81 {
82 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
83 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
84
85 typedef typename Model::JointModel JointModel;
86
87 #define CHECK_DATA(a) \
88 if (!(a)) \
89 return false;
90
91 // TODO JMinvJt,sDUiJt are never explicitly initialized.
92 // TODO impulse_c
93 // They are not check neither
94
95
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 42592 CHECK_DATA((int)data.joints.size() == model.njoints);
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 42592 CHECK_DATA((int)data.a.size() == model.njoints);
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 42592 CHECK_DATA((int)data.a_gf.size() == model.njoints);
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 42592 CHECK_DATA((int)data.v.size() == model.njoints);
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 42592 CHECK_DATA((int)data.f.size() == model.njoints);
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 42592 CHECK_DATA((int)data.oMi.size() == model.njoints);
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 42592 CHECK_DATA((int)data.liMi.size() == model.njoints);
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 42592 CHECK_DATA((int)data.Ycrb.size() == model.njoints);
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 42592 CHECK_DATA((int)data.Yaba.size() == model.njoints);
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 42592 CHECK_DATA((int)data.Fcrb.size() == model.njoints);
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 2488814 BOOST_FOREACH (const typename Data::Matrix6x & F, data.Fcrb)
106 {
107
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 1223111 CHECK_DATA(F.cols() == model.nv);
108 }
109
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 42592 CHECK_DATA((int)data.iMf.size() == model.njoints);
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 42592 CHECK_DATA((int)data.iMf.size() == model.njoints);
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 42592 CHECK_DATA((int)data.com.size() == model.njoints);
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 42592 CHECK_DATA((int)data.vcom.size() == model.njoints);
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 42592 CHECK_DATA((int)data.acom.size() == model.njoints);
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 42592 CHECK_DATA((int)data.mass.size() == model.njoints);
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 42592 CHECK_DATA(data.tau.size() == model.nv);
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 42592 CHECK_DATA(data.nle.size() == model.nv);
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 42592 CHECK_DATA(data.ddq.size() == model.nv);
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 42592 CHECK_DATA(data.u.size() == model.nv);
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 42592 CHECK_DATA(data.M.rows() == model.nv);
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 42592 CHECK_DATA(data.M.cols() == model.nv);
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 42592 CHECK_DATA(data.Ag.cols() == model.nv);
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 42592 CHECK_DATA(data.U.cols() == model.nv);
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 42592 CHECK_DATA(data.U.rows() == model.nv);
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 42592 CHECK_DATA(data.D.size() == model.nv);
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 42592 CHECK_DATA(data.tmp.size() >= model.nv);
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 42592 CHECK_DATA(data.J.cols() == model.nv);
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 42592 CHECK_DATA(data.Jcom.cols() == model.nv);
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 42592 CHECK_DATA(data.torque_residual.size() == model.nv);
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 42592 CHECK_DATA(data.dq_after.size() == model.nv);
131 // CHECK_DATA( data.impulse_c.size()== model.nv );
132
133
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 42592 CHECK_DATA(data.kinematic_hessians.dimension(0) == 6);
134 #if EIGEN_VERSION_AT_LEAST(3, 2, 90) && !EIGEN_VERSION_AT_LEAST(3, 2, 93)
135 CHECK_DATA(data.kinematic_hessians.dimension(1) == std::max(1, model.nv));
136 CHECK_DATA(data.kinematic_hessians.dimension(2) == std::max(1, model.nv));
137 #else
138
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 42592 CHECK_DATA(data.kinematic_hessians.dimension(1) == model.nv);
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 42592 CHECK_DATA(data.kinematic_hessians.dimension(2) == model.nv);
140 #endif
141
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 42592 CHECK_DATA((int)data.oMf.size() == model.nframes);
143
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 42592 CHECK_DATA((int)data.lastChild.size() == model.njoints);
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 42592 CHECK_DATA((int)data.nvSubtree.size() == model.njoints);
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 42592 CHECK_DATA((int)data.parents_fromRow.size() == model.nv);
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 42592 CHECK_DATA((int)data.nvSubtree_fromRow.size() == model.nv);
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 1223111 for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
150 {
151 1180519 const typename Model::JointModel & jmodel = model.joints[joint_id];
152
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 1180519 CHECK_DATA(model.nqs[joint_id] == jmodel.nq());
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 1180519 CHECK_DATA(model.idx_qs[joint_id] == jmodel.idx_q());
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 1180519 CHECK_DATA(model.nvs[joint_id] == jmodel.nv());
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 1180519 CHECK_DATA(model.idx_vs[joint_id] == jmodel.idx_v());
157 }
158
159
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 1223111 for (JointIndex j = 1; int(j) < model.njoints; ++j)
160 {
161 1180519 JointIndex c = (JointIndex)data.lastChild[j];
162
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 1180519 CHECK_DATA((int)c < model.njoints);
163 1180519 int nv = model.joints[j].nv();
164
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 5971865 for (JointIndex d = j + 1; d <= c; ++d) // explore all descendant
165 {
166
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 4791346 CHECK_DATA(model.parents[d] >= j);
167 4791346 nv += model.joints[d].nv();
168 }
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 1180519 CHECK_DATA(nv == data.nvSubtree[j]);
170
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 12668142 for (JointIndex d = c + 1; (int)d < model.njoints; ++d)
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 11487623 CHECK_DATA((model.parents[d] < j) || (model.parents[d] > c));
173
174 1180519 int row = model.joints[j].idx_v();
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 1180519 CHECK_DATA(data.nvSubtree[j] == data.nvSubtree_fromRow[(size_t)row]);
176
177 1180519 const JointModel & jparent = model.joints[model.parents[j]];
178
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 1180519 if (row == 0)
179 {
180
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 42591 CHECK_DATA(data.parents_fromRow[(size_t)row] == -1);
181 }
182 else
183 {
184
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 1137928 CHECK_DATA(jparent.idx_v() + jparent.nv() - 1 == data.parents_fromRow[(size_t)row]);
185 }
186 }
187
188 #undef CHECK_DATA
189 42592 return true;
190 }
191
192 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
193 42592 inline bool ModelTpl<Scalar, Options, JointCollectionTpl>::check(
194 const DataTpl<Scalar, Options, JointCollectionTpl> & data) const
195 {
196 42592 return checkData(*this, data);
197 }
198
199 } // namespace pinocchio
200
201 #endif // ifndef __pinocchio_check_hxx__
202