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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/copy.cpp	Lines:	27	27	100.0 %
Date:	2024-01-23 21:41:47	Branches:	111	216	51.4 %


//
// Copyright(c) 2018-2020 CNRS INRIA
//

#include "pinocchio/algorithm/copy.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/parsers/sample-models.hpp"

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

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_data_copy)
{
  using namespace Eigen;
  using namespace pinocchio;

  Model model;
  buildModels::humanoidRandom(model);

  model.upperPositionLimit.head<3>().fill(100);
  model.upperPositionLimit.segment<4>(3).setOnes();
  model.lowerPositionLimit.head<7>() = - model.upperPositionLimit.head<7>();

  VectorXd q(model.nq);
  q = randomConfiguration(model);
  VectorXd v(VectorXd::Random(model.nv));
  VectorXd a(VectorXd::Random(model.nv));

  Data data_ref(model), data(model);
  forwardKinematics(model,data_ref,q,v,a);
  rnea(model,data_ref,q,v,a); // for a_gf to be initialized

  // Check zero order kinematic quantities
  copy(model,data_ref,data,POSITION);
  for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
  {
    BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
  }

  // Check first order kinematic quantities
  copy(model,data_ref,data,VELOCITY);
  for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
  {
    BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
    BOOST_CHECK(data.v[i] == data_ref.v[i]);
  }

  // Check second order kinematic quantities
  copy(model,data_ref,data,ACCELERATION);
  for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
  {
    BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
    BOOST_CHECK(data.v[i] == data_ref.v[i]);
    BOOST_CHECK(data.a[i] == data_ref.a[i]);
    BOOST_CHECK(data.a_gf[i] == data_ref.a_gf[i]);
  }

}

BOOST_AUTO_TEST_SUITE_END()


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright(c) 2018-2020 CNRS INRIA
3			//
4
5			#include "pinocchio/algorithm/copy.hpp"
6			#include "pinocchio/algorithm/kinematics.hpp"
7			#include "pinocchio/algorithm/rnea.hpp"
8			#include "pinocchio/algorithm/joint-configuration.hpp"
9			#include "pinocchio/parsers/sample-models.hpp"
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	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_data_copy)
17			{
18			using namespace Eigen;
19			using namespace pinocchio;
20
21	✓✗	4	Model model;
22	✓✗	2	buildModels::humanoidRandom(model);
23
24	✓✗✓✗	2	model.upperPositionLimit.head<3>().fill(100);
25	✓✗✓✗	2	model.upperPositionLimit.segment<4>(3).setOnes();
26	✓✗✓✗ ✓✗✓✗	2	model.lowerPositionLimit.head<7>() = - model.upperPositionLimit.head<7>();
27
28	✓✗	4	VectorXd q(model.nq);
29	✓✗	2	q = randomConfiguration(model);
30	✓✗✓✗	4	VectorXd v(VectorXd::Random(model.nv));
31	✓✗✓✗	4	VectorXd a(VectorXd::Random(model.nv));
32
33	✓✗✓✗	4	Data data_ref(model), data(model);
34	✓✗	2	forwardKinematics(model,data_ref,q,v,a);
35	✓✗	2	rnea(model,data_ref,q,v,a); // for a_gf to be initialized
36
37			// Check zero order kinematic quantities
38	✓✗	2	copy(model,data_ref,data,POSITION);
39	✓✓	56	for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
40			{
41	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
42			}
43
44			// Check first order kinematic quantities
45	✓✗	2	copy(model,data_ref,data,VELOCITY);
46	✓✓	56	for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
47			{
48	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
49	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.v[i] == data_ref.v[i]);
50			}
51
52			// Check second order kinematic quantities
53	✓✗	2	copy(model,data_ref,data,ACCELERATION);
54	✓✓	56	for(Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
55			{
56	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
57	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.v[i] == data_ref.v[i]);
58	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.a[i] == data_ref.a[i]);
59	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	54	BOOST_CHECK(data.a_gf[i] == data_ref.a_gf[i]);
60			}
61
62		2	}
63
64			BOOST_AUTO_TEST_SUITE_END()