GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	28	28	100.0%
Branches:	126	246	51.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include <iostream>
6
7			#include <pinocchio/math/rotation.hpp>
8			#include <pinocchio/math/sincos.hpp>
9			#include <Eigen/Geometry>
10
11			#include <boost/variant.hpp> // to avoid C99 warnings
12
13			#include <boost/test/unit_test.hpp>
14			#include <boost/utility/binary.hpp>
15
16			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
17
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19			{
20			using namespace pinocchio;
21			#ifndef NDEBUG
22		2	const int max_tests = 1e5;
23			#else
24			const int max_tests = 1e2;
25			#endif
26	2/2 ✓ Branch 0 taken 100000 times. ✓ Branch 1 taken 1 times.	200002	for (int k = 0; k < max_tests; ++k)
27			{
28		200000	const double theta = std::rand();
29			double cos_value, sin_value;
30
31		200000	pinocchio::SINCOS(theta, &sin_value, &cos_value);
32	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	const Eigen::Vector3d axis(Eigen::Vector3d::Random().normalized());
33
34	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	Eigen::Matrix3d rot;
35	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	toRotationMatrix(axis, cos_value, sin_value, rot);
36	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	Eigen::Matrix3d rot2;
37	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	toRotationMatrix(axis, theta, rot2);
38
39	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	const Eigen::Matrix3d rot_ref = Eigen::AngleAxisd(theta, axis).toRotationMatrix();
40
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43			}
44		2	}
45
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47			{
48			using namespace pinocchio;
49			#ifndef NDEBUG
50		2	const int max_tests = 1e5;
51			#else
52			const int max_tests = 1e2;
53			#endif
54
55			typedef Eigen::Vector4d Vector4;
56			typedef Eigen::Quaterniond Quaternion;
57			typedef Eigen::Matrix3d Matrix3;
58
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60			{
61	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	const Vector4 vec4 = Vector4::Random();
62	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	const Quaternion quat(vec4.normalized());
63
64	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	const Matrix3 rot = quat.toRotationMatrix();
65
66	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	Matrix3 rot_proj = orthogonalProjection(rot);
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68			}
69
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71			{
72	2/4 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100000 times. ✗ Branch 5 not taken.	200000	const Matrix3 mat = Matrix3::Random();
73
74	1/2 ✓ Branch 1 taken 100000 times. ✗ Branch 2 not taken.	200000	Matrix3 rot_proj = orthogonalProjection(mat);
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77			}
78		2	}
79
80			BOOST_AUTO_TEST_SUITE_END()
81