GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	77	77	100.0%
Branches:	288	576	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4			//
5
6			#include "pinocchio/math/fwd.hpp"
7			#include "pinocchio/multibody/joint/joints.hpp"
8			#include "pinocchio/algorithm/rnea.hpp"
9			#include "pinocchio/algorithm/aba.hpp"
10			#include "pinocchio/algorithm/crba.hpp"
11			#include "pinocchio/algorithm/jacobian.hpp"
12			#include "pinocchio/algorithm/compute-all-terms.hpp"
13
14			#include <boost/test/unit_test.hpp>
15			#include <iostream>
16
17			using namespace pinocchio;
18
19			template<typename D>
20		4	void addJointAndBody(
21			Model & model,
22			const JointModelBase<D> & jmodel,
23			const Model::JointIndex parent_id,
24			const SE3 & joint_placement,
25			const std::string & joint_name,
26			const Inertia & Y)
27			{
28			Model::JointIndex idx;
29
30	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	idx = model.addJoint(parent_id, jmodel, joint_placement, joint_name);
31	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	model.appendBodyToJoint(idx, Y);
32		4	}
33
34			BOOST_AUTO_TEST_SUITE(JointPlanar)
35
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37			{
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
40
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MotionPlanar mp(1., 2., 3.);
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense(mp);
43
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46
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48		2	}
49
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51			{
52			using namespace pinocchio;
53			typedef SE3::Vector3 Vector3;
54			typedef Eigen::Matrix<double, 6, 1> Vector6;
55			typedef Eigen::Matrix<double, 4, 1> VectorPl;
56			typedef Eigen::Matrix<double, 7, 1> VectorFF;
57			typedef SE3::Matrix3 Matrix3;
58
59	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model modelPlanar, modelFreeflyer;
60
61	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity());
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
63	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(1., 0., 0.);
64
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66	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	addJointAndBody(modelFreeflyer, JointModelFreeFlyer(), 0, SE3::Identity(), "free-flyer", inertia);
67
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataPlanar(modelPlanar);
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataFreeFlyer(modelFreeflyer);
70
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorPl q;
72	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	q << 1, 1, 0, 1; // Angle is PI /2;
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorFF qff;
74	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken.	2	qff << 1, 1, 0, 0, 0, sqrt(2) / 2, sqrt(2) / 2;
75	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Ones(modelPlanar.nv);
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector6 vff;
77	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	vff << 1, 1, 0, 0, 0, 1;
78	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauPlanar = Eigen::VectorXd::Ones(modelPlanar.nv);
79	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauff = Eigen::VectorXd::Ones(modelFreeflyer.nv);
80	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aPlanar = Eigen::VectorXd::Ones(modelPlanar.nv);
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aff(vff);
82
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelPlanar, dataPlanar, q, v);
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelFreeflyer, dataFreeFlyer, qff, vff);
85
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelPlanar, dataPlanar, q, v);
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelFreeflyer, dataFreeFlyer, qff, vff);
88
89	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(dataFreeFlyer.oMi[1].isApprox(dataPlanar.oMi[1]));
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91	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(dataFreeFlyer.Ycrb[1].matrix().isApprox(dataPlanar.Ycrb[1].matrix()));
92	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(dataFreeFlyer.f[1].toVector().isApprox(dataPlanar.f[1].toVector()));
93
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd nle_expected_ff(3);
95	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	nle_expected_ff << dataFreeFlyer.nle[0], dataFreeFlyer.nle[1], dataFreeFlyer.nle[5];
96	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(nle_expected_ff.isApprox(dataPlanar.nle));
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98
99			// InverseDynamics == rnea
100	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauPlanar = rnea(modelPlanar, dataPlanar, q, v, aPlanar);
101	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauff = rnea(modelFreeflyer, dataFreeFlyer, qff, vff, aff);
102
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 tau_expected;
104	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	tau_expected << tauff(0), tauff(1), tauff(5);
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106
107			// ForwardDynamics == aba
108	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aAbaPlanar = aba(modelPlanar, dataPlanar, q, v, tauPlanar, Convention::WORLD);
109			Eigen::VectorXd aAbaFreeFlyer =
110	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	aba(modelFreeflyer, dataFreeFlyer, qff, vff, tauff, Convention::WORLD);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 a_expected;
112	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	a_expected << aAbaFreeFlyer[0], aAbaFreeFlyer[1], aAbaFreeFlyer[5];
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114
115			// crba
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelPlanar, dataPlanar, q, Convention::WORLD);
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelFreeflyer, dataFreeFlyer, qff, Convention::WORLD);
118
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 3, 3> M_expected;
120	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	M_expected.block<2, 2>(0, 0) = dataFreeFlyer.M.block<2, 2>(0, 0);
121	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	M_expected.block<1, 2>(2, 0) = dataFreeFlyer.M.block<1, 2>(5, 0);
122	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	M_expected.block<2, 1>(0, 2) = dataFreeFlyer.M.col(5).head<2>();
123	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	M_expected.block<1, 1>(2, 2) = dataFreeFlyer.M.col(5).tail<1>();
124
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126
127			// Jacobian
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobian_planar;
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobian_planar.resize(6, 3);
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobian_planar.setZero();
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobian_ff;
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobian_ff.resize(6, 6);
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobian_ff.setZero();
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelPlanar, dataPlanar, q);
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelFreeflyer, dataFreeFlyer, qff);
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelPlanar, dataPlanar, 1, LOCAL, jacobian_planar);
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelFreeflyer, dataFreeFlyer, 1, LOCAL, jacobian_ff);
138
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, 3> jacobian_expected;
140	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	jacobian_expected << jacobian_ff.col(0), jacobian_ff.col(1), jacobian_ff.col(5);
141
142	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(jacobian_planar.isApprox(jacobian_expected));
143		2	}
144
145			BOOST_AUTO_TEST_SUITE_END()
146