GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	42	42	100.0%
Branches:	145	284	51.1%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2022 INRIA
3			//
4
5			#include <iostream>
6
7			#include <pinocchio/math/eigenvalues.hpp>
8
9			#include <boost/variant.hpp> // to avoid C99 warnings
10
11			#include <boost/test/unit_test.hpp>
12			#include <boost/utility/binary.hpp>
13
14			#include <Eigen/Eigenvalues>
15			#include <algorithm>
16
17			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
18
19			using namespace pinocchio;
20
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22			{
23		2	const Eigen::DenseIndex mat_size = 20;
24	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Eigen::MatrixXd identity_mat = Eigen::MatrixXd::Identity(mat_size, mat_size);
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26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto eigen_vec = computeLargestEigenvector(identity_mat);
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	auto eigen_val = retrieveLargestEigenvalue(eigen_vec);
28	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(std::fabs(eigen_val - 1.) <= 1e-4);
29		2	}
30
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32			{
33		2	const Eigen::DenseIndex mat_size = 10;
34		2	const int num_tests = 1000;
35		2	const int num_it_max = 10;
36		2	const int num_it_max_finer = 100 * num_it_max;
37
38	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int k = 0; k < num_tests; ++k)
39			{
40	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	const Eigen::MatrixXd A = Eigen::MatrixXd::Random(mat_size, mat_size);
41	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	const Eigen::MatrixXd sym_mat = (A * A.transpose());
42
43	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	const Eigen::EigenSolver<Eigen::MatrixXd> eigen_solver(sym_mat, true);
44	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1000 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1000 times.	2000	BOOST_CHECK(eigen_solver.info() == Eigen::Success);
45
46			// Sort eigenvalues
47	2/4 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken.	2000	Eigen::VectorXd sorted_eigen_values = eigen_solver.eigenvalues().real();
48	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken.	2000	std::sort(sorted_eigen_values.data(), sorted_eigen_values.data() + sorted_eigen_values.size());
49
50	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	const double eigen_val_ref = sorted_eigen_values[sorted_eigen_values.size() - 1];
51
52	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	auto eigen_vec = computeLargestEigenvector(sym_mat, num_it_max);
53	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	auto eigen_val = retrieveLargestEigenvalue(eigen_vec);
54
55			bool test_relative_eigen_val =
56		2000	std::fabs(eigen_val - eigen_val_ref) / (std::max)(eigen_val, eigen_val_ref) <= 1e-2;
57	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	bool test_eigen_vec = (sym_mat * eigen_vec).isApprox(eigen_val * eigen_vec, 1e-2);
58
59	4/4 ✓ Branch 0 taken 733 times. ✓ Branch 1 taken 267 times. ✓ Branch 2 taken 306 times. ✓ Branch 3 taken 427 times.	2000	if (!test_relative_eigen_val \|\| !test_eigen_vec)
60			{
61	1/2 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken.	1146	auto eigen_vec_finer = computeLargestEigenvector(sym_mat, num_it_max_finer);
62	1/2 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken.	1146	auto eigen_val_finer = retrieveLargestEigenvalue(eigen_vec_finer);
63
64		1146	test_relative_eigen_val =
65		1146	std::fabs(eigen_val_finer - eigen_val_ref) / (std::max)(eigen_val_finer, eigen_val_ref)
66			<= 1e-2;
67			test_eigen_vec =
68	3/6 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 573 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 573 times. ✗ Branch 8 not taken.	1146	(sym_mat * eigen_vec_finer).isApprox(eigen_val_finer * eigen_vec_finer, 1e-2);
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70	3/6 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 573 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 573 times. ✗ Branch 8 not taken.	1146	std::cout << "eigen_val: " << eigen_val << std::endl;
71	3/6 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 573 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 573 times. ✗ Branch 8 not taken.	1146	std::cout << "eigen_val_finer: " << eigen_val_finer << std::endl;
72	3/6 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 573 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 573 times. ✗ Branch 8 not taken.	1146	std::cout << "eigen_val_ref: " << eigen_val_ref << std::endl;
73	1/2 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken.	1146	std::cout << "res finer: "
74	5/10 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 573 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 573 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 573 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 573 times. ✗ Branch 14 not taken.	1146	<< (sym_mat * eigen_vec_finer - eigen_val_finer * eigen_vec_finer).norm()
75	1/2 ✓ Branch 1 taken 573 times. ✗ Branch 2 not taken.	1146	<< std::endl;
76		1146	}
77	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(test_relative_eigen_val);
78	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(test_eigen_vec);
79		2000	}
80		2	}
81
82			BOOST_AUTO_TEST_SUITE_END()
83