GCC Code Coverage Report

Directory: ./
File: unittest/utils/model-generator.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 41 41 100.0%
Branches: 90 180 50.0%
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1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 //
4
5 #include "pinocchio/multibody/model.hpp"
6
7 namespace pinocchio
8 {
9
10 template<typename D>
11 286 void addJointAndBody(
12 Model & model,
13 const JointModelBase<D> & jmodel,
14 const Model::JointIndex parent_id,
15 const SE3 & joint_placement,
16 const std::string & name,
17 const Inertia & Y)
18 {
19 Model::JointIndex idx;
20 typedef typename D::TangentVector_t TV;
21 typedef typename D::ConfigVector_t CV;
22
23
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 1144 idx = model.addJoint(
24 parent_id, jmodel, joint_placement, name + "_joint", TV::Zero(),
25
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 858 1e3 * (TV::Random() + TV::Constant(1)), 1e3 * (CV::Random() - CV::Constant(1)),
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 286 1e3 * (CV::Random() + CV::Constant(1)));
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 286 model.appendBodyToJoint(idx, Y, SE3::Identity());
29 286 }
30
31 13 void buildAllJointsModel(Model & model)
32 {
33
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 65 addJointAndBody(
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 52 model, JointModelFreeFlyer(), model.getJointId("universe"), SE3::Identity(), "freeflyer",
35 13 Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelSpherical(), model.getJointId("freeflyer_joint"), SE3::Identity(),
38 13 "spherical", Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelPlanar(), model.getJointId("spherical_joint"), SE3::Identity(), "planar",
41 13 Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelRX(), model.getJointId("planar_joint"), SE3::Identity(), "rx",
44 13 Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelPX(), model.getJointId("rx_joint"), SE3::Identity(), "px",
47 13 Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelHX(1.0), model.getJointId("px_joint"), SE3::Identity(), "hx",
50 13 Inertia::Random());
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 65 addJointAndBody(
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 26 model, JointModelPrismaticUnaligned(SE3::Vector3(1, 0, 0)), model.getJointId("hx_joint"),
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 39 SE3::Identity(), "pu", Inertia::Random());
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 65 addJointAndBody(
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 26 model, JointModelRevoluteUnaligned(SE3::Vector3(0, 0, 1)), model.getJointId("pu_joint"),
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 39 SE3::Identity(), "ru", Inertia::Random());
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 65 addJointAndBody(
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 26 model, JointModelHelicalUnaligned(SE3::Vector3(0, 0, 1), 1.0), model.getJointId("ru_joint"),
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 39 SE3::Identity(), "hu", Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelSphericalZYX(), model.getJointId("hu_joint"), SE3::Identity(),
62 13 "sphericalZYX", Inertia::Random());
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 65 addJointAndBody(
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 52 model, JointModelTranslation(), model.getJointId("sphericalZYX_joint"), SE3::Identity(),
65 13 "translation", Inertia::Random());
66 13 }
67
68 } // namespace pinocchio
69