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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	examples/overview-urdf.cpp	Lines:	16	16	100.0 %
Date:	2024-04-26 13:14:21	Branches:	30	66	45.5 %


#include "pinocchio/parsers/urdf.hpp"

#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"

#include <iostream>

// PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here.
#ifndef PINOCCHIO_MODEL_DIR
  #define PINOCCHIO_MODEL_DIR "path_to_the_model_dir"
#endif

int main(int argc, char ** argv)
{
  using namespace pinocchio;

  // You should change here to set up your own URDF file or just pass it as an argument of this example.
  const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") : argv[1];

  // Load the urdf model
  Model model;
  pinocchio::urdf::buildModel(urdf_filename,model);
  std::cout << "model name: " << model.name << std::endl;

  // Create data required by the algorithms
  Data data(model);

  // Sample a random configuration
  Eigen::VectorXd q = randomConfiguration(model);
  std::cout << "q: " << q.transpose() << std::endl;

  // Perform the forward kinematics over the kinematic tree
  forwardKinematics(model,data,q);

  // Print out the placement of each joint of the kinematic tree
  for(JointIndex joint_id = 0; joint_id < (JointIndex)model.njoints; ++joint_id)
    std::cout << std::setw(24) << std::left
              << model.names[joint_id] << ": "
              << std::fixed << std::setprecision(2)
              << data.oMi[joint_id].translation().transpose()
              << std::endl;
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			#include "pinocchio/parsers/urdf.hpp"
2
3			#include "pinocchio/algorithm/joint-configuration.hpp"
4			#include "pinocchio/algorithm/kinematics.hpp"
5
6			#include <iostream>
7
8			// PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here.
9			#ifndef PINOCCHIO_MODEL_DIR
10			#define PINOCCHIO_MODEL_DIR "path_to_the_model_dir"
11			#endif
12
13		1	int main(int argc, char ** argv)
14			{
15			using namespace pinocchio;
16
17			// You should change here to set up your own URDF file or just pass it as an argument of this example.
18	✓✗✓✗ ✓✗✗✗ ✗✓✓✗ ✓✗✗✗ ✗✗✗✗	3	const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") : argv[1];
19
20			// Load the urdf model
21	✓✗	2	Model model;
22	✓✗	1	pinocchio::urdf::buildModel(urdf_filename,model);
23	✓✗✓✗ ✓✗	1	std::cout << "model name: " << model.name << std::endl;
24
25			// Create data required by the algorithms
26	✓✗	2	Data data(model);
27
28			// Sample a random configuration
29	✓✗	2	Eigen::VectorXd q = randomConfiguration(model);
30	✓✗✓✗ ✓✗✓✗	1	std::cout << "q: " << q.transpose() << std::endl;
31
32			// Perform the forward kinematics over the kinematic tree
33	✓✗	1	forwardKinematics(model,data,q);
34
35			// Print out the placement of each joint of the kinematic tree
36	✓✓	8	for(JointIndex joint_id = 0; joint_id < (JointIndex)model.njoints; ++joint_id)
37	✓✗✓✗	7	std::cout << std::setw(24) << std::left
38	✓✗✓✗	7	<< model.names[joint_id] << ": "
39	✓✗✓✗	7	<< std::fixed << std::setprecision(2)
40	✓✗✓✗ ✓✗	14	<< data.oMi[joint_id].translation().transpose()
41	✓✗	7	<< std::endl;
42		1	}