GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	27	27	100.0%
Branches:	162	318	50.9%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA CNRS
3			//
4
5			#include <pinocchio/math/quaternion.hpp>
6			#include <pinocchio/spatial/se3.hpp>
7
8			#include <boost/variant.hpp> // to avoid C99 warnings
9
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
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16			{
17			using namespace pinocchio;
18		2	const int max_tests = 1e5;
19	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	for (int k = 0; k < max_tests; ++k)
20			{
21	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	const SE3 M(SE3::Random());
22	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	SE3::Quaternion quat_ref(M.rotation());
23
24	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	SE3::Quaternion quat;
25	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	quaternion::assignQuaternion(quat, M.rotation());
26
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28			}
29		2	}
30
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32			{
33		2	srand(0);
34
35			using namespace pinocchio;
36	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Quaternion<double> q;
37
38	2/2 ✓ Branch 0 taken 1024 times. ✓ Branch 1 taken 1 times.	2050	for (int i = 0; i < (1 << 10); ++i)
39			{
40	1/2 ✓ Branch 1 taken 1024 times. ✗ Branch 2 not taken.	2048	quaternion::uniformRandom(q);
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42			(q.coeffs().array().abs() <= 1).all(),
43			"Quaternion coeffs out of bounds: " << i << ' ' << q.coeffs().transpose());
44			}
45		2	}
46
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48			{
49		2	srand(0);
50
51			using namespace pinocchio;
52			typedef Eigen::Quaternion<double> Quaternion;
53			typedef Quaternion::Coefficients Vector4;
54
55			#ifdef NDEBUG
56			const int max_test = 1e6;
57			#else
58		2	const int max_test = 1e2;
59			#endif
60	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int i = 0; i < max_test; ++i)
61			{
62	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Quaternion q;
63	4/8 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 100 times. ✗ Branch 12 not taken.	200	q.coeffs() = Vector4::Random() + Vector4::Constant(2);
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65
66	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	q.normalize();
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68			}
69
70			// Specific check for the Zero vector
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72		2	}
73
74			BOOST_AUTO_TEST_SUITE_END()
75