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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/algo-check.cpp	Lines:	15	15	100.0 %
Date:	2024-01-23 21:41:47	Branches:	113	220	51.4 %


//
// Copyright (c) 2016-2022 CNRS INRIA
//

#include <boost/fusion/container/generation/make_list.hpp>
#include <pinocchio/multibody/model.hpp>
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/parsers/sample-models.hpp"
#include <pinocchio/algorithm/crba.hpp>
#include <pinocchio/algorithm/aba.hpp>
#include <pinocchio/algorithm/check.hpp>
#include <pinocchio/algorithm/default-check.hpp>
#include <iostream>

using namespace pinocchio;

#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

// Dummy checker.
struct Check1 : public AlgorithmCheckerBase<Check1>
{
  bool checkModel_impl( const Model& ) const { return true; }
};

BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )

BOOST_AUTO_TEST_CASE ( test_check )
{
  using namespace boost::fusion;

  pinocchio::Model model; buildModels::humanoidRandom(model);

  BOOST_CHECK(model.check (Check1()));
  BOOST_CHECK(model.check (CRBAChecker()));
  BOOST_CHECK(model.check (ABAChecker()));

  BOOST_CHECK(model.check(makeAlgoCheckerList(Check1(),ParentChecker(),CRBAChecker()) ));
  BOOST_CHECK(model.check(DEFAULT_CHECKERS));

  pinocchio::Data data(model);
  BOOST_CHECK(checkData(model,data));
  BOOST_CHECK(model.check(data));

  BOOST_FOREACH(Inertia& Y,model.inertias)
  {
    Y.inertia().data().fill(-1.);
  }
  BOOST_CHECK(! model.check (ABAChecker())); // some inertias are negative ... check fail.

}

BOOST_AUTO_TEST_SUITE_END ()



Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2022 CNRS INRIA
3			//
4
5			#include <boost/fusion/container/generation/make_list.hpp>
6			#include <pinocchio/multibody/model.hpp>
7			#include "pinocchio/multibody/data.hpp"
8			#include "pinocchio/parsers/sample-models.hpp"
9			#include <pinocchio/algorithm/crba.hpp>
10			#include <pinocchio/algorithm/aba.hpp>
11			#include <pinocchio/algorithm/check.hpp>
12			#include <pinocchio/algorithm/default-check.hpp>
13			#include <iostream>
14
15			using namespace pinocchio;
16
17			#include <boost/test/unit_test.hpp>
18			#include <boost/utility/binary.hpp>
19
20			// Dummy checker.
21			struct Check1 : public AlgorithmCheckerBase<Check1>
22			{
23		2	bool checkModel_impl( const Model& ) const { return true; }
24			};
25
26			BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
27
28	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE ( test_check )
29			{
30			using namespace boost::fusion;
31
32	✓✗✓✗	4	pinocchio::Model model; buildModels::humanoidRandom(model);
33
34	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(model.check (Check1()));
35	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(model.check (CRBAChecker()));
36	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(model.check (ABAChecker()));
37
38	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.check(makeAlgoCheckerList(Check1(),ParentChecker(),CRBAChecker()) ));
39	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(model.check(DEFAULT_CHECKERS));
40
41	✓✗	4	pinocchio::Data data(model);
42	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(checkData(model,data));
43	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(model.check(data));
44
45	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✓✓✓ ✓✗✓✗ ✓✓✓✗ ✓✗	114	BOOST_FOREACH(Inertia& Y,model.inertias)
46			{
47	✓✗	56	Y.inertia().data().fill(-1.);
48			}
49	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(! model.check (ABAChecker())); // some inertias are negative ... check fail.
50
51		2	}
52
53			BOOST_AUTO_TEST_SUITE_END ()
54