GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	33	33	100.0%
Branches:	127	254	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2023 INRIA
3			//
4
5			#include "pinocchio/multibody/data.hpp"
6			#include "pinocchio/algorithm/constraints/constraints.hpp"
7			#include "pinocchio/algorithm/constraints/constraint-model-generic.hpp"
8			#include "pinocchio/algorithm/constraints/constraint-data-generic.hpp"
9			#include "pinocchio/algorithm/contact-info.hpp"
10			#include "pinocchio/multibody/sample-models.hpp"
11
12			#include <iostream>
13
14			#include <boost/test/unit_test.hpp>
15			#include <boost/utility/binary.hpp>
16
17			using namespace pinocchio;
18			using namespace Eigen;
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
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23			{
24	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
26
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
28
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 M(SE3::Random());
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RigidConstraintModel rcm(CONTACT_3D, model, 0, M);
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RigidConstraintData rcd(rcm);
32
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintModel::ConstraintModelVariant constraint_model_variant = rcm;
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintModel constraint_model(rcm);
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintModel constraint_model_equal = rcm;
36
37	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ConstraintData constraint_data = rcm.createData();
38		2	}
39
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41			{
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
44
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
46
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 M(SE3::Random());
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RigidConstraintModel rcm(CONTACT_3D, model, 0, M);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RigidConstraintData rcd(rcm);
50	9/18 ✓ 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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(ConstraintData(rcd) == ConstraintData(rcd));
51	9/18 ✓ 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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(ConstraintData(rcd) == rcd);
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintModel constraint_model(rcm);
54
55			// Test create data visitor
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintData constraint_data = createData(constraint_model);
57	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	constraint_data = rcd;
58
59			// Test calc visitor
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	calc(constraint_model, constraint_data, model, data);
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rcm.calc(model, data, rcd);
62	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(rcd == constraint_data);
63
64			// Test jacobian visitor
65	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::MatrixXs jacobian_matrix = Data::Matrix6x::Zero(6, model.nv),
66	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	jacobian_matrix_ref = Data::Matrix6x::Zero(6, model.nv);
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobian(constraint_model, constraint_data, model, data, jacobian_matrix);
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rcm.jacobian(model, data, rcd, jacobian_matrix_ref);
69	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(jacobian_matrix == jacobian_matrix_ref);
70		2	}
71
72			BOOST_AUTO_TEST_SUITE_END()
73