GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	131	131	100.0%
Branches:	479	958	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 INRIA
3			//
4
5			#include "pinocchio/multibody/joint/joint-generic.hpp"
6			#include "pinocchio/multibody/liegroup/liegroup.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			typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6x;
16
17			template<typename JointModel>
18		22	void test_constraint_mimic(const JointModelBase<JointModel> & jmodel)
19			{
20			typedef typename traits<JointModel>::JointDerived Joint;
21			typedef typename traits<Joint>::Constraint_t ConstraintType;
22			typedef typename traits<Joint>::JointDataDerived JointData;
23			typedef ScaledJointMotionSubspace<ConstraintType> ScaledJointMotionSubspaceType;
24
25	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	JointData jdata = jmodel.createData();
26
27		22	const double scaling_factor = 2.;
28	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	ConstraintType constraint_ref(jdata.S), constraint_ref_shared(jdata.S);
29	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	22	ScaledJointMotionSubspaceType scaled_constraint(constraint_ref_shared, scaling_factor);
30
31	8/16 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 11 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 11 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 11 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 11 times.	22	BOOST_CHECK(constraint_ref.nv() == scaled_constraint.nv());
32
33			typedef typename JointModel::TangentVector_t TangentVector_t;
34	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	TangentVector_t v = TangentVector_t::Random();
35
36	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	Motion m = scaled_constraint * v;
37	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	Motion m_ref = scaling_factor * (Motion)(constraint_ref * v);
38
39	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 11 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 11 times.	22	BOOST_CHECK(m.isApprox(m_ref));
40
41			{
42	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	SE3 M = SE3::Random();
43	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S = M.act(scaled_constraint);
44	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S_ref =
45			scaling_factor * M.act(constraint_ref);
46
47	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 11 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 11 times.	22	BOOST_CHECK(S.isApprox(S_ref));
48			}
49
50			{
51	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S = scaled_constraint.matrix();
52	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S_ref =
53			scaling_factor * constraint_ref.matrix();
54
55	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 11 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 11 times.	22	BOOST_CHECK(S.isApprox(S_ref));
56			}
57
58			{
59	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	Motion v = Motion::Random();
60	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S = v.cross(scaled_constraint);
61	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	typename ScaledJointMotionSubspaceType::DenseBase S_ref =
62			scaling_factor * v.cross(constraint_ref);
63
64	7/14 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 11 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 11 times.	22	BOOST_CHECK(S.isApprox(S_ref));
65			}
66
67			// Test transpose operations
68			{
69		22	const Eigen::DenseIndex dim = 20;
70	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	const Matrix6x Fin = Matrix6x::Random(6, dim);
71	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	Eigen::MatrixXd Fout = scaled_constraint.transpose() * Fin;
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74
75	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	Force force_in(Force::Random());
76	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	Eigen::MatrixXd Stf = (scaled_constraint.transpose() * force_in);
77	4/8 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken.	22	Eigen::MatrixXd Stf_ref = scaling_factor * (constraint_ref.transpose() * force_in);
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79		22	}
80
81			// CRBA Y*S
82			{
83	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	Inertia Y = Inertia::Random();
84	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	Eigen::MatrixXd YS = Y * scaled_constraint;
85	3/6 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken.	22	Eigen::MatrixXd YS_ref = scaling_factor * (Y * constraint_ref);
86
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88		22	}
89		22	}
90
91			struct TestJointConstraint
92			{
93
94			template<typename JointModel>
95		18	void operator()(const JointModelBase<JointModel> &) const
96			{
97	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	JointModel jmodel;
98	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	jmodel.setIndexes(0, 0, 0);
99
100	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	test_constraint_mimic(jmodel);
101		18	}
102
103		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
104			{
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
107
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_constraint_mimic(jmodel);
109		1	}
110
111		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
112			{
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
115
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_constraint_mimic(jmodel);
117		1	}
118			};
119
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121			{
122			using namespace pinocchio;
123			typedef boost::variant<
124			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX,
125			JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelRUBX, JointModelRUBY,
126			JointModelRUBZ>
127			Variant;
128
129		2	boost::mpl::for_each<Variant::types>(TestJointConstraint());
130		2	}
131
132			template<typename JointModel>
133		22	void test_joint_mimic(const JointModelBase<JointModel> & jmodel)
134			{
135			typedef typename traits<JointModel>::JointDerived Joint;
136			typedef typename traits<Joint>::JointDataDerived JointData;
137
138	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	JointData jdata = jmodel.createData();
139
140		22	const double scaling_factor = 1.;
141		22	const double offset = 0.;
142
143			typedef JointMimic<Joint> JointMimicType;
144			typedef typename traits<JointMimicType>::JointModelDerived JointModelMimicType;
145			typedef typename traits<JointMimicType>::JointDataDerived JointDataMimicType;
146
147			// test constructor
148	1/2 ✓ Branch 2 taken 11 times. ✗ Branch 3 not taken.	22	JointModelMimicType jmodel_mimic(jmodel.derived(), scaling_factor, offset);
149	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	JointDataMimicType jdata_mimic = jmodel_mimic.createData();
150
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153
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156
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159
160			typedef typename JointModelMimicType::ConfigVector_t ConfigVectorType;
161			typedef typename LieGroup<JointModel>::type LieGroupType;
162	4/8 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken.	22	ConfigVectorType q0 =
163	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones());
164
165	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel.calc(jdata, q0);
166	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel_mimic.calc(jdata_mimic, q0);
167
168	10/20 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 11 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 11 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 11 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 11 times.	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
169	9/18 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 11 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 11 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 11 times.	22	BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix()));
170
171			typedef typename JointModelMimicType::TangentVector_t TangentVectorType;
172
173	5/10 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 11 times. ✗ Branch 14 not taken.	22	q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones());
174	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	TangentVectorType v0 = TangentVectorType::Random();
175	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel.calc(jdata, q0, v0);
176	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel_mimic.calc(jdata_mimic, q0, v0);
177
178	10/20 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 11 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 11 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 11 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 11 times.	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
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181		22	}
182
183			struct TestJointMimic
184			{
185
186			template<typename JointModel>
187		18	void operator()(const JointModelBase<JointModel> &) const
188			{
189	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	JointModel jmodel;
190	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	jmodel.setIndexes(0, 0, 0);
191
192	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	test_joint_mimic(jmodel);
193		18	}
194
195		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
196			{
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
199
200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_mimic(jmodel);
201		1	}
202
203		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
204			{
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
207
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_mimic(jmodel);
209		1	}
210			};
211
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213			{
214			using namespace pinocchio;
215			typedef boost::variant<
216			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX,
217			JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelRUBX, JointModelRUBY,
218			JointModelRUBZ>
219			Variant;
220
221		2	boost::mpl::for_each<Variant::types>(TestJointMimic());
222		2	}
223
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225			{
226			typedef JointModelRX::ConfigVector_t ConfigVectorType;
227		2	double scaling = 1., offset = 0.;
228
229	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ConfigVectorType q0 = ConfigVectorType::Random();
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVectorType q1;
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LinearAffineTransform::run(q0, scaling, offset, q1);
232	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(q0 == q1);
233
234		2	offset = 2.;
235	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	LinearAffineTransform::run(ConfigVectorType::Zero(), scaling, offset, q1);
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237		2	}
238
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240			{
241			typedef JointModelRUBX::ConfigVector_t ConfigVectorType;
242		2	double scaling = 1., offset = 0.;
243
244	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ConfigVectorType q0 = ConfigVectorType::Random().normalized();
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVectorType q1;
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	UnboundedRevoluteAffineTransform::run(q0, scaling, offset, q1);
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248
249		2	offset = 2.;
250	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	UnboundedRevoluteAffineTransform::run(ConfigVectorType::Zero(), scaling, offset, q1);
251	8/16 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(q1 == ConfigVectorType(math::cos(offset), math::sin(offset)));
252		2	}
253
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255			{
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelRX jmodel_ref;
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_ref.setIndexes(1, 2, 3);
258
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelMimic<JointModelRX> jmodel(jmodel_ref, 2., 1.);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel.setIndexes(1, -1, -1);
261
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265
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModel jmodel_generic(jmodel);
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_generic.setIndexes(1, -2, -2);
268
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270		2	}
271			BOOST_AUTO_TEST_SUITE_END()
272