GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	39	39	100.0%
Branches:	158	314	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2022 INRIA
3			//
4
5			#include <iostream>
6
7			#include "pinocchio/collision/collision.hpp"
8			#include "pinocchio/collision/broadphase.hpp"
9			#include "pinocchio/collision/tree-broadphase-manager.hpp"
10			#include "pinocchio/parsers/urdf.hpp"
11			#include "pinocchio/parsers/srdf.hpp"
12
13			#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
14
15			#include <vector>
16			#include <boost/test/unit_test.hpp>
17
18			using namespace pinocchio;
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
22	33/66 ✓ 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. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_tree_broadphase_with_empty_models)
23			{
24	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
27
28			TreeBroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> broadphase_manager(
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	&model, &geom_model, &geom_data);
30
31	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(broadphase_manager.check());
32		2	}
33
34	33/66 ✓ 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. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_collisions)
35			{
36			const std::string filename =
37			PINOCCHIO_MODEL_DIR
38	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");
39		2	std::vector<std::string> packageDirs;
40	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
42			const std::string srdf_filename =
43			PINOCCHIO_MODEL_DIR
44	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");
45
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
47	3/6 ✓ 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.	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
49	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs);
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false);
52
53	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_broadphase(model);
54	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	GeometryData geom_data(geom_model), geom_data_broadphase(geom_model);
55
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false);
57	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"];
58
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q);
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data_broadphase, geom_model, geom_data_broadphase, q);
61
62	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(geom_model, geom_data) == false);
63	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(geom_model, geom_data, false) == false);
64
65			TreeBroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager> broadphase_manager(
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	&model, &geom_model, &geom_data_broadphase);
67	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(broadphase_manager) == false);
68	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(broadphase_manager, false) == false);
69	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(model, data_broadphase, broadphase_manager, q) == false);
70	7/14 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(computeCollisions(model, data_broadphase, broadphase_manager, q, false) == false);
71
72		2	const int num_configs = 1000;
73	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int i = 0; i < num_configs; ++i)
74			{
75	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	Eigen::VectorXd q_rand = randomConfiguration(model);
76	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	q_rand.head<7>() = q.head<7>();
77
78	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK(
79			computeCollisions(model, data_broadphase, broadphase_manager, q_rand)
80			== computeCollisions(model, data, geom_model, geom_data, q_rand));
81		2000	}
82		2	}
83
84			BOOST_AUTO_TEST_SUITE_END()
85