GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	69	69	100.0%
Branches:	302	600	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 INRIA
3			//
4
5			#include <pinocchio/autodiff/casadi.hpp>
6
7			#include <pinocchio/math/quaternion.hpp>
8			#include <pinocchio/spatial/se3.hpp>
9			#include <pinocchio/spatial/motion.hpp>
10			#include "pinocchio/spatial/explog.hpp"
11
12			#include <pinocchio/spatial/explog.hpp>
13
14			#include <boost/variant.hpp> // to avoid C99 warnings
15
16			#include <iostream>
17			#include <boost/test/unit_test.hpp>
18			#include <boost/utility/binary.hpp>
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
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23			{
24			typedef pinocchio::SE3Tpl<casadi::SX> SE3;
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M1 = SE3::Identity();
26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M2 = SE3::Random();
27
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M3 = M2 * M1;
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M1inv = M1.inverse();
30
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	::casadi::SX trans;
32	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::casadi::copy(M1.translation(), trans);
33
34		2	const Eigen::DenseIndex col = 0;
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36			{
37	10/20 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 3 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 3 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 3 times. ✗ Branch 30 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 3 times.	6	BOOST_CHECK(casadi::SX::is_equal(trans(k, col), M1.translation()[k]));
38			}
39		2	}
40
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42			{
43			typedef pinocchio::MotionTpl<casadi::SX> Motion;
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v1 = Motion::Zero();
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v2 = Motion::Random();
46
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v3 = v1 + v2;
48		2	}
49
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51			{
52			typedef pinocchio::SE3Tpl<casadi::SX> SE3AD;
53			typedef pinocchio::SE3 SE3;
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3AD ad_M;
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3AD::Matrix3 & ad_rot = ad_M.rotation();
57
58	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_rot = casadi::SX::sym("rot", 3, 3);
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(cs_rot, ad_rot);
60
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3AD::Quaternion ad_quat;
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::quaternion::assignQuaternion(ad_quat, ad_rot);
63
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	casadi::SX cs_quat(4, 1);
65	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::casadi::copy(ad_quat.coeffs(), cs_quat);
66
67	6/12 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	12	casadi::Function eval_quat("eval_quat", casadi::SXVector{cs_rot}, casadi::SXVector{cs_quat});
68
69	2/2 ✓ Branch 0 taken 10000 times. ✓ Branch 1 taken 1 times.	20002	for (int k = 0; k < 1e4; ++k)
70			{
71	1/2 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken.	20000	SE3 M(SE3::Random());
72	2/4 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10000 times. ✗ Branch 5 not taken.	20000	SE3::Quaternion quat_ref(M.rotation());
73
74	1/2 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken.	20000	casadi::DM vec_rot(3, 3);
75	2/4 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10000 times. ✗ Branch 5 not taken.	20000	pinocchio::casadi::copy(M.rotation(), vec_rot);
76
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78	1/2 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken.	20000	SE3::Quaternion quat_value;
79
80		20000	quat_value.coeffs() =
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83			// if(! quat_value.coeffs().isApprox(quat_ref.coeffs()))
84			// {
85			// std::cout << "quat_value: " << quat_value.coeffs().transpose() << std::endl;
86			// std::cout << "quat_ref: " << quat_ref.coeffs().transpose() << std::endl;
87			// }
88		20000	}
89		2	}
90
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92			{
93			typedef double Scalar;
94			typedef casadi::SX ADScalar;
95
96			typedef pinocchio::SE3 SE3;
97			typedef SE3::Vector3 Vector3;
98			typedef SE3::Matrix3 Matrix3;
99
100			typedef pinocchio::SE3Tpl<ADScalar> SE3AD;
101			typedef SE3AD::Vector3 Vector3AD;
102			typedef SE3AD::Matrix3 Matrix3AD;
103
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix3 RTarget;
105	3/6 ✓ 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.	2	pinocchio::toRotationMatrix(Vector3(SE3::Vector3::UnitX()), pinocchio::PI<Scalar>() / 4, RTarget);
106
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion quat0(0.707107, 0.707107, 0, 0);
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 R0 = quat0.toRotationMatrix();
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 nu0 = pinocchio::log3(R0);
110
111	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_nu = casadi::SX::sym("nu", 3);
112
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114			auto log3_casadi_exp =
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116
117	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	casadi::SX cs_res = casadi::SX::sym("res", 3);
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::casadi::copy(log3_casadi_exp, cs_res);
119
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121
122	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<double> log3_casadi_input(3);
123	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Eigen::Map<Vector3>(log3_casadi_input.data()) = nu0;
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126
127	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	Vector3 res0_ref = pinocchio::log3(pinocchio::exp3(nu0).transpose() * RTarget);
128
129			// Check first that the value matches
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133
134	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ADScalar log3_casadi_jacobian_exp = jacobian(cs_res, cs_nu);
135			casadi::Function log3_casadi_jacobian(
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137
138			casadi::DM log3_casadi_jacobian_res =
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140			Matrix3 jac0 =
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142
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144
145	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	ADScalar log3_casadi_gradient_exp = gradient(log3_casadi_exp[0], cs_nu);
146
147			casadi::Function log3_casadi_gradient(
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149
150			casadi::DM log3_casadi_gradient_res =
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152			Vector3 grad0 =
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154
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156		2	}
157
158			BOOST_AUTO_TEST_SUITE_END()
159