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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/quaternion.cpp	Lines:	27	27	100.0 %
Date:	2024-01-23 21:41:47	Branches:	162	318	50.9 %


//
// Copyright (c) 2019-2020 INRIA CNRS
//

#include <pinocchio/math/quaternion.hpp>
#include <pinocchio/spatial/se3.hpp>

#include <boost/variant.hpp> // to avoid C99 warnings

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

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_assignQuaternion)
{
  using namespace pinocchio;
  const int max_tests = 1e5;
  for(int k = 0; k < max_tests; ++k)
  {
    const SE3 M(SE3::Random());
    SE3::Quaternion quat_ref(M.rotation());

    SE3::Quaternion quat;
    quaternion::assignQuaternion(quat,M.rotation());

    BOOST_CHECK(quat.coeffs().isApprox(quat_ref.coeffs()));
  }
}

BOOST_AUTO_TEST_CASE(test_uniformRandom)
{
  srand(0);

  using namespace pinocchio;
  Eigen::Quaternion<double> q;

  for (int i = 0; i < (1 << 10); ++i) {
    quaternion::uniformRandom(q);
    BOOST_CHECK_MESSAGE((q.coeffs().array().abs() <= 1).all(),
        "Quaternion coeffs out of bounds: " << i << ' ' << q.coeffs().transpose());
  }
}

BOOST_AUTO_TEST_CASE(test_isNormalized)
{
  srand(0);

  using namespace pinocchio;
  typedef Eigen::Quaternion<double> Quaternion;
  typedef Quaternion::Coefficients Vector4;

#ifdef NDEBUG
  const int max_test = 1e6;
#else
  const int max_test = 1e2;
#endif
  for(int i = 0; i < max_test; ++i)
  {
    Quaternion q;
    q.coeffs() = Vector4::Random() + Vector4::Constant(2);
    BOOST_CHECK(!quaternion::isNormalized(q));

    q.normalize();
    BOOST_CHECK(quaternion::isNormalized(q));
  }

  // Specific check for the Zero vector
  BOOST_CHECK(!quaternion::isNormalized(Quaternion(Vector4::Zero())));
}

BOOST_AUTO_TEST_SUITE_END()



Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA CNRS
3			//
4
5			#include <pinocchio/math/quaternion.hpp>
6			#include <pinocchio/spatial/se3.hpp>
7
8			#include <boost/variant.hpp> // to avoid C99 warnings
9
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
15	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_assignQuaternion)
16			{
17			using namespace pinocchio;
18		2	const int max_tests = 1e5;
19	✓✓	200002	for(int k = 0; k < max_tests; ++k)
20			{
21	✓✗	200000	const SE3 M(SE3::Random());
22	✓✗✓✗	200000	SE3::Quaternion quat_ref(M.rotation());
23
24	✓✗	200000	SE3::Quaternion quat;
25	✓✗✓✗	200000	quaternion::assignQuaternion(quat,M.rotation());
26
27	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200000	BOOST_CHECK(quat.coeffs().isApprox(quat_ref.coeffs()));
28			}
29		2	}
30
31	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_uniformRandom)
32			{
33		2	srand(0);
34
35			using namespace pinocchio;
36	✓✗	2	Eigen::Quaternion<double> q;
37
38	✓✓	2050	for (int i = 0; i < (1 << 10); ++i) {
39	✓✗	2048	quaternion::uniformRandom(q);
40	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2048	BOOST_CHECK_MESSAGE((q.coeffs().array().abs() <= 1).all(),
41			"Quaternion coeffs out of bounds: " << i << ' ' << q.coeffs().transpose());
42			}
43		2	}
44
45	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_isNormalized)
46			{
47		2	srand(0);
48
49			using namespace pinocchio;
50			typedef Eigen::Quaternion<double> Quaternion;
51			typedef Quaternion::Coefficients Vector4;
52
53			#ifdef NDEBUG
54			const int max_test = 1e6;
55			#else
56		2	const int max_test = 1e2;
57			#endif
58	✓✓	202	for(int i = 0; i < max_test; ++i)
59			{
60	✓✗	200	Quaternion q;
61	✓✗✓✗ ✓✗✓✗	200	q.coeffs() = Vector4::Random() + Vector4::Constant(2);
62	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200	BOOST_CHECK(!quaternion::isNormalized(q));
63
64	✓✗	200	q.normalize();
65	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200	BOOST_CHECK(quaternion::isNormalized(q));
66			}
67
68			// Specific check for the Zero vector
69	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!quaternion::isNormalized(Quaternion(Vector4::Zero())));
70		2	}
71
72			BOOST_AUTO_TEST_SUITE_END()
73