GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	99	99	100.0%
Branches:	433	860	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2024 INRIA
3			//
4
5			#include <iostream>
6
7			#include <pinocchio/math/tridiagonal-matrix.hpp>
8
9			#include <boost/variant.hpp> // to avoid C99 warnings
10
11			#include <boost/test/unit_test.hpp>
12			#include <boost/utility/binary.hpp>
13
14			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
15
16			using namespace pinocchio;
17
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19			{
20		2	const Eigen::DenseIndex mat_size = 20;
21	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TridiagonalSymmetricMatrixTpl<double> tridiagonal_matrix(mat_size);
22
23	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tridiagonal_matrix.setZero();
24	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(tridiagonal_matrix.isZero(0));
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27		2	}
28
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30			{
31		2	const Eigen::DenseIndex mat_size = 20;
32	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TridiagonalSymmetricMatrixTpl<double> tridiagonal_matrix(mat_size);
33			typedef TridiagonalSymmetricMatrixTpl<double>::PlainMatrixType PlainMatrixType;
34
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tridiagonal_matrix.setIdentity();
36	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(tridiagonal_matrix.isIdentity(0));
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38
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43
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47
48			// Fill matrix
49			{
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PlainMatrixType mat(mat_size, mat_size);
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mat = tridiagonal_matrix;
52
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54		2	}
55
56			// Matrix multiplication left and right
57	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int k = 0; k < 1000; ++k)
58			{
59	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType mat = PlainMatrixType::Random(mat_size, mat_size);
60
61	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	PlainMatrixType plain(mat_size, mat_size);
62	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	plain = tridiagonal_matrix;
63
64	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res_apply_on_the_right = tridiagonal_matrix * mat;
65	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res_apply_on_the_right_ref = plain * mat;
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67
68	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res_apply_on_the_left = mat * tridiagonal_matrix;
69	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res_apply_on_the_left_ref = mat * plain;
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71		2000	}
72		2	}
73
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75			{
76		2	const Eigen::DenseIndex mat_size = 20;
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TridiagonalSymmetricMatrixTpl<double> tridiagonal_matrix(mat_size);
78			typedef TridiagonalSymmetricMatrixTpl<double>::PlainMatrixType PlainMatrixType;
79
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81
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86
87			// Fill matrix
88			{
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PlainMatrixType mat(mat_size, mat_size);
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mat = tridiagonal_matrix;
91
92	8/16 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(mat.diagonal() == tridiagonal_matrix.diagonal());
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95		2	}
96
97			// Matrix multiplication
98	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int k = 0; k < 1000; ++k)
99			{
100	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType rhs_mat = PlainMatrixType::Random(mat_size, mat_size);
101
102	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	PlainMatrixType plain(mat_size, mat_size);
103	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	plain = tridiagonal_matrix;
104
105	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res = tridiagonal_matrix * rhs_mat;
106
107	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	PlainMatrixType res_ref = plain * rhs_mat;
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110			.isApprox(tridiagonal_matrix.matrix()));
111		2000	}
112		2	}
113
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115			{
116			typedef TridiagonalSymmetricMatrixTpl<double> TridiagonalSymmetricMatrixd;
117		2	const Eigen::DenseIndex mat_size = 10;
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TridiagonalSymmetricMatrixTpl<double> tridiagonal_matrix(mat_size);
119			typedef TridiagonalSymmetricMatrixTpl<double>::PlainMatrixType PlainMatrixType;
120
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tridiagonal_matrix.setRandom();
122
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PlainMatrixType plain_mat(mat_size, mat_size);
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	plain_mat = tridiagonal_matrix;
125	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const PlainMatrixType plain_mat_inverse = plain_mat.inverse();
126
127			const TridiagonalSymmetricMatrixInverse<TridiagonalSymmetricMatrixd> &
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tridiagonal_matrix_inverse = tridiagonal_matrix.inverse();
129
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132
133		2	const auto & tridiagonal_matrix_ref = tridiagonal_matrix_inverse.inverse();
134	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(&tridiagonal_matrix_ref == &tridiagonal_matrix);
135
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const PlainMatrixType tridiagonal_matrix_inverse_plain = tridiagonal_matrix_inverse;
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138
139			// Matrix multiplication
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141			{
142	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	PlainMatrixType rhs_mat = PlainMatrixType::Random(mat_size, mat_size);
143
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PlainMatrixType res(mat_size, mat_size);
145	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	res = tridiagonal_matrix_ref * rhs_mat;
146
147	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(res.isApprox((plain_mat * rhs_mat).eval()));
148
149	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	res = tridiagonal_matrix_inverse * rhs_mat;
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const PlainMatrixType res_ref = plain_mat_inverse * rhs_mat;
151
152	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(res.isApprox(res_ref));
153		2	}
154
155			// Test diagonal
156			{
157	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd sub_diagonal_matrix = Eigen::MatrixXd::Zero(mat_size, mat_size);
158	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sub_diagonal_matrix.diagonal<1>().setRandom();
159	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sub_diagonal_matrix.diagonal().setRandom();
160	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sub_diagonal_matrix.diagonal<-1>().setRandom();
161
162	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Eigen::MatrixXd test_mat = Eigen::MatrixXd::Random(mat_size, mat_size);
163	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Eigen::MatrixXd res_ref = sub_diagonal_matrix * test_mat;
164
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd res(mat_size, mat_size); // res.setZero();
166	5/10 ✓ 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. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	res.noalias() = sub_diagonal_matrix.diagonal().asDiagonal() * test_mat;
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.topRows(mat_size - 1) +=
168	5/10 ✓ 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. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	sub_diagonal_matrix.diagonal<1>().asDiagonal() * test_mat.bottomRows(mat_size - 1);
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	res.bottomRows(mat_size - 1) +=
170	5/10 ✓ 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. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	sub_diagonal_matrix.diagonal<-1>().asDiagonal() * test_mat.topRows(mat_size - 1);
171	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(res.isApprox(res_ref));
172		2	}
173		2	}
174
175			BOOST_AUTO_TEST_SUITE_END()
176