GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	64	64	100.0%
Branches:	298	596	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2018 CNRS
3			//
4
5			#include <iostream>
6
7			#include "pinocchio/multibody/model.hpp"
8			#include "pinocchio/parsers/urdf.hpp"
9			#include "pinocchio/parsers/srdf.hpp"
10
11			#include <boost/test/unit_test.hpp>
12
13			using namespace pinocchio;
14			using namespace std;
15
16			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
17
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19			{
20			using namespace pinocchio::urdf;
21			using namespace pinocchio::srdf;
22			const string model_filename =
23			PINOCCHIO_MODEL_DIR
24	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
25	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const string model_dir = PINOCCHIO_MODEL_DIR;
26			const string srdf_filename =
27			PINOCCHIO_MODEL_DIR
28	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf");
29
30	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModel(model_filename, model);
32
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
34		2	vector<string> paths;
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	paths.push_back(model_dir);
36	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	buildGeom(model, model_filename, COLLISION, geom_model, paths);
37
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
39
40		2	const size_t num_init_col_pairs = geom_model.collisionPairs.size();
41
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	removeCollisionPairs(model, geom_model, srdf_filename, false);
43		2	const size_t num_col_pairs = geom_model.collisionPairs.size();
44
45	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(num_init_col_pairs > num_col_pairs);
46		2	}
47
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49			{
50			using namespace pinocchio::urdf;
51			using namespace pinocchio::srdf;
52	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
53	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModel(model_filename, model);
57
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	loadReferenceConfigurations(model, srdf_filename, false);
59	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.	4	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
60	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.	4	Eigen::VectorXd q2 = model.referenceConfigurations["half_sitting2"];
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63
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66		2	}
67
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69			{
70			const string urdf = "<robot name='test'>"
71			"<link name='base_link'/>"
72			"<link name='child_link'/>"
73			"<joint type='revolute' name='joint'>"
74			" <parent link='base_link'/>"
75			" <child link='child_link'/>"
76			" <limit effort='30' velocity='1.0' />"
77			"</joint>"
78	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>";
79			const string srdf = "<robot name='test'>"
80			"<group_state name='reference' group='all'>"
81			" <joint name='joint' value='0.0' />"
82			"</group_state>"
83	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>";
84
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModelFromXML(urdf, model);
87
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::istringstream iss(srdf);
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false);
90
91	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.	4	Eigen::VectorXd q = model.referenceConfigurations["reference"];
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd qexpected(1);
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qexpected << 0;
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96		2	}
97
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99			{
100			const string urdf = "<robot name='test'>"
101			"<link name='base_link'/>"
102			"<link name='child_link'/>"
103			"<joint type='continuous' name='joint'>"
104			" <parent link='base_link'/>"
105			" <child link='child_link'/>"
106			" <limit effort='30' velocity='1.0' />"
107			"</joint>"
108	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	"</robot>";
109			const string srdf = "<robot name='test'>"
110			"<group_state name='reference' group='all'>"
111			" <joint name='joint' value='0.0' />"
112			"</group_state>"
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114
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::urdf::buildModelFromXML(urdf, model);
117
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::istringstream iss(srdf);
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false);
120
121	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.	4	Eigen::VectorXd q = model.referenceConfigurations["reference"];
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd qexpected(2);
123	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	qexpected << 1, 0;
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126		2	}
127
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129			{
130			using namespace pinocchio::urdf;
131			using namespace pinocchio::srdf;
132	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
133	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");
134
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModel(model_filename, model);
137
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	loadRotorParameters(model, srdf_filename, false);
139
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142		2	}
143
144			BOOST_AUTO_TEST_SUITE_END()
145