GCC Code Coverage Report

Directory: ./
File: unittest/copy.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 27 27 100.0%
Branches: 111 216 51.4%
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1 //
2 // Copyright(c) 2018-2020 CNRS INRIA
3 //
4
5 #include "pinocchio/algorithm/copy.hpp"
6 #include "pinocchio/algorithm/kinematics.hpp"
7 #include "pinocchio/algorithm/rnea.hpp"
8 #include "pinocchio/algorithm/joint-configuration.hpp"
9 #include "pinocchio/multibody/sample-models.hpp"
10
11 #include <boost/test/unit_test.hpp>
12 #include <boost/utility/binary.hpp>
13
14 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
15
16
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 4 BOOST_AUTO_TEST_CASE(test_data_copy)
17 {
18 using namespace Eigen;
19 using namespace pinocchio;
20
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 2 Model model;
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 2 buildModels::humanoidRandom(model);
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 2 model.upperPositionLimit.head<3>().fill(100);
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 2 model.upperPositionLimit.segment<4>(3).setOnes();
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 2 model.lowerPositionLimit.head<7>() = -model.upperPositionLimit.head<7>();
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 2 VectorXd q(model.nq);
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 2 q = randomConfiguration(model);
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 2 VectorXd v(VectorXd::Random(model.nv));
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 2 VectorXd a(VectorXd::Random(model.nv));
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 2 Data data_ref(model), data(model);
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 2 forwardKinematics(model, data_ref, q, v, a);
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 2 rnea(model, data_ref, q, v, a); // for a_gf to be initialized
36
37 // Check zero order kinematic quantities
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 2 copy(model, data_ref, data, POSITION);
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 56 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
40 {
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 54 BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
42 }
43
44 // Check first order kinematic quantities
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 2 copy(model, data_ref, data, VELOCITY);
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 56 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
47 {
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 54 BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
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 54 BOOST_CHECK(data.v[i] == data_ref.v[i]);
50 }
51
52 // Check second order kinematic quantities
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 2 copy(model, data_ref, data, ACCELERATION);
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 56 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
55 {
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 54 BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
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 54 BOOST_CHECK(data.v[i] == data_ref.v[i]);
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 54 BOOST_CHECK(data.a[i] == data_ref.a[i]);
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 54 BOOST_CHECK(data.a_gf[i] == data_ref.a_gf[i]);
60 }
61 2 }
62
63 BOOST_AUTO_TEST_SUITE_END()
64