GCC Code Coverage Report

Directory:	./
File:	unittest/compute-all-terms.cpp
Date:	2025-02-12 21:03:38

	Exec	Total	Coverage
Lines:	50	50	100.0%
Branches:	175	348	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2021 CNRS INRIA
3			//
4
5			#include "pinocchio/spatial/fwd.hpp"
6			#include "pinocchio/spatial/se3.hpp"
7			#include "pinocchio/multibody/visitor.hpp"
8			#include "pinocchio/multibody/model.hpp"
9			#include "pinocchio/multibody/data.hpp"
10			#include "pinocchio/algorithm/crba.hpp"
11			#include "pinocchio/algorithm/centroidal.hpp"
12			#include "pinocchio/algorithm/rnea.hpp"
13			#include "pinocchio/algorithm/jacobian.hpp"
14			#include "pinocchio/algorithm/compute-all-terms.hpp"
15			#include "pinocchio/multibody/sample-models.hpp"
16			#include "pinocchio/utils/timer.hpp"
17
18			#include <boost/test/unit_test.hpp>
19
20			using namespace pinocchio;
21
22			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
23
24		4	void run_test(const Model & model, const Eigen::VectorXd & q, const Eigen::VectorXd & v)
25			{
26	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	pinocchio::Data data(model);
27	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	pinocchio::Data data_other(model);
28
29	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	computeAllTerms(model, data, q, v);
30
31	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	nonLinearEffects(model, data_other, q, v);
32	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	crba(model, data_other, q, Convention::WORLD);
33	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	getJacobianComFromCrba(model, data_other);
34	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	computeJointJacobiansTimeVariation(model, data_other, q, v);
35	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	centerOfMass(model, data_other, q, v, true);
36	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	computeKineticEnergy(model, data_other, q, v);
37	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	computePotentialEnergy(model, data_other, q);
38	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	dccrba(model, data_other, q, v);
39	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	computeGeneralizedGravity(model, data_other, q);
40
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43			.isApprox(Eigen::MatrixXd(data_other.M.triangularView<Eigen::Upper>())));
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52
53	2/2 ✓ Branch 0 taken 112 times. ✓ Branch 1 taken 4 times.	116	for (int k = 0; k < model.njoints; ++k)
54			{
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58			}
59
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62		4	}
63
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65			{
66			using namespace Eigen;
67
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
70
71	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q(VectorXd::Random(model.nq));
72	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
73
74			// -------
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setZero();
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setZero();
77
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	run_test(model, q, v);
79
80			// -------
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setZero();
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setOnes();
83
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85
86			// -------
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setOnes();
88	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.segment<4>(3).normalize();
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setOnes();
90
91	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	run_test(model, q, v);
92
93			// -------
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setRandom();
95	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.segment<4>(3).normalize();
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom();
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	run_test(model, q, v);
99		2	}
100
101			BOOST_AUTO_TEST_SUITE_END()
102