GCC Code Coverage Report

Directory: ./
File: unittest/data.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 55 55 100.0%
Branches: 299 586 51.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2019-2020 INRIA
3 //
4
5 #include "pinocchio/multibody/data.hpp"
6 #include "pinocchio/multibody/model.hpp"
7 #include "pinocchio/multibody/sample-models.hpp"
8
9 #include "pinocchio/algorithm/check.hpp"
10
11 #include <boost/test/unit_test.hpp>
12 #include <boost/utility/binary.hpp>
13
14 using namespace pinocchio;
15
16 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
17
18
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 4 BOOST_AUTO_TEST_CASE(test_empty_model)
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 2 Model empty_model;
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 2 Data empty_data(empty_model);
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 2 BOOST_CHECK(empty_model.check(empty_data));
24 2 }
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 4 BOOST_AUTO_TEST_CASE(test_data_start_idx_v_fromRow)
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 2 Model model;
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 2 Data data(model);
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 56 for (Model::JointIndex joint_id = 1; joint_id < (Model::JointIndex)model.njoints; ++joint_id)
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 54 const int nv_joint = model.joints[joint_id].nv();
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 54 const int idx_joint = model.joints[joint_id].idx_v();
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 118 for (int k = 0; k < nv_joint; ++k)
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 64 BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint + k)] == idx_joint);
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 64 BOOST_CHECK(data.end_idx_v_fromRow[(size_t)(idx_joint + k)] == idx_joint + nv_joint - 1);
42 }
43 }
44 2 }
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 4 BOOST_AUTO_TEST_CASE(test_data_supports_fromRow)
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 2 Model model;
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 2 Data data(model);
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 66 for (size_t k = 0; k < (size_t)model.nv; ++k)
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55 64 const std::vector<int> & support = data.supports_fromRow[k];
56 64 const int parent_id = data.parents_fromRow[k];
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 64 if (parent_id >= 0)
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60 62 const std::vector<int> & support_parent = data.supports_fromRow[(size_t)parent_id];
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 62 BOOST_CHECK(support.size() == support_parent.size() + 1);
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 574 for (size_t j = 0; j < support_parent.size(); ++j)
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 512 BOOST_CHECK(support[j] == support_parent[j]);
65 }
66 }
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 64 BOOST_CHECK(support.back() == (int)k);
69 }
70 2 }
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 4 BOOST_AUTO_TEST_CASE(test_copy_and_equal_op)
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 2 BOOST_CHECK(data == data);
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 2 BOOST_CHECK(data == data_copy);
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 2 data_copy.oMi[0].setRandom();
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 2 BOOST_CHECK(data != data_copy);
85 2 }
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 4 BOOST_AUTO_TEST_CASE(test_container_aligned_vector)
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94 2 container::aligned_vector<Data::Force> & f = data.f;
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 2 BOOST_CHECK(data.f[0] == f[0]);
98 2 }
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 4 BOOST_AUTO_TEST_CASE(test_std_vector_of_Data)
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 42 for (size_t k = 0; k < 20; ++k)
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 40 datas.push_back(Data(model));
108 2 }
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110 BOOST_AUTO_TEST_SUITE_END()
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