GCC Code Coverage Report

Directory: ./
File: unittest/coulomb-friction-cone.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 36 36 100.0%
Branches: 207 404 51.2%
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4
5 #include <iostream>
6 #include "pinocchio/algorithm/constraints/coulomb-friction-cone.hpp"
7
8 #include <boost/test/unit_test.hpp>
9 #include <boost/utility/binary.hpp>
10
11 using namespace pinocchio;
12
13 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
15
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 4 BOOST_AUTO_TEST_CASE(test_proj)
16 {
17 2 const int num_tests = int(1e5);
18 2 const double mu = .4;
19
20 2 const CoulombFrictionCone cone(mu);
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 2 const DualCoulombFrictionCone dual_cone = cone.dual();
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 2 BOOST_CHECK(cone.isInside(Eigen::Vector3d::Zero()));
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 2 BOOST_CHECK(cone.project(Eigen::Vector3d::Zero()) == Eigen::Vector3d::Zero());
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 2 BOOST_CHECK(dual_cone.isInside(Eigen::Vector3d::Zero()));
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 2 BOOST_CHECK(dual_cone.project(Eigen::Vector3d::Zero()) == Eigen::Vector3d::Zero());
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 200002 for (int k = 0; k < num_tests; ++k)
30 {
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 200000 const Eigen::Vector3d x = Eigen::Vector3d::Random();
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33 // Cone
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 200000 const Eigen::Vector3d proj_x = cone.project(x);
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 200000 const Eigen::Vector3d proj_proj_x = cone.project(proj_x);
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 200000 BOOST_CHECK(cone.isInside(proj_x, 1e-12));
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 200000 BOOST_CHECK(cone.isInside(proj_proj_x, 1e-12));
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 200000 BOOST_CHECK(proj_x.isApprox(proj_proj_x));
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 200000 if (cone.isInside(x))
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 4214 BOOST_CHECK(x == proj_x);
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 200000 BOOST_CHECK(fabs((x - proj_x).dot(proj_x)) <= 1e-12); // orthogonal projection
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45 // Dual cone
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 200000 const Eigen::Vector3d dual_proj_x = dual_cone.project(x);
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 200000 const Eigen::Vector3d dual_proj_proj_x = dual_cone.project(dual_proj_x);
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 200000 BOOST_CHECK(dual_cone.isInside(dual_proj_x, 1e-12));
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 200000 BOOST_CHECK(dual_cone.isInside(dual_proj_proj_x, 1e-12));
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 200000 BOOST_CHECK(dual_proj_x.isApprox(dual_proj_proj_x));
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 200000 if (dual_cone.isInside(x))
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 69870 BOOST_CHECK(x == dual_proj_x);
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 200000 BOOST_CHECK(fabs((x - dual_proj_x).dot(dual_proj_x)) <= 1e-12); // orthogonal projection
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58 // Radial projection
59 {
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 200000 const Eigen::Vector3d radial_proj_x = cone.computeRadialProjection(x);
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 200000 const Eigen::Vector3d radial_proj_radial_proj_x = cone.computeRadialProjection(radial_proj_x);
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 200000 BOOST_CHECK(cone.isInside(radial_proj_x, 1e-12));
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 200000 BOOST_CHECK(radial_proj_x[2] == x[2] || radial_proj_x[2] == 0.);
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 200000 if (radial_proj_x[2] == x[2])
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 100306 BOOST_CHECK(
66 std::fabs(radial_proj_x.head<2>().normalized().dot(x.head<2>().normalized()) - 1.)
67 <= 1e-6);
68 else
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 99694 BOOST_CHECK(radial_proj_x.head<2>().isZero());
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 200000 BOOST_CHECK(radial_proj_radial_proj_x.isApprox(radial_proj_radial_proj_x));
71 }
72 }
73 2 }
74
75 BOOST_AUTO_TEST_SUITE_END()
76