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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	unittest/rotation.cpp	Lines:	24	24	100.0 %
Date:	2024-04-26 13:14:21	Branches:	117	228	51.3 %


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

#include <iostream>

#include <pinocchio/math/rotation.hpp>
#include <pinocchio/math/sincos.hpp>
#include <Eigen/Geometry>

#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_toRotationMatrix)
{
  using namespace pinocchio;
  const int max_tests = 1e5;
  for(int k = 0; k < max_tests; ++k)
  {
    const double theta = std::rand();
    double cos_value, sin_value;

    pinocchio::SINCOS(theta,&sin_value,&cos_value);
    Eigen::Vector3d axis(Eigen::Vector3d::Random().normalized());

    Eigen::Matrix3d rot; toRotationMatrix(axis,cos_value,sin_value,rot);
    Eigen::Matrix3d rot_ref = Eigen::AngleAxisd(theta,axis).toRotationMatrix();

    BOOST_CHECK(rot.isApprox(rot_ref));
  }
}

BOOST_AUTO_TEST_CASE(test_orthogonal_projection)
{
  using namespace pinocchio;
  const int max_tests = 1e5;

  typedef Eigen::Vector4d Vector4;
  typedef Eigen::Quaterniond Quaternion;
  typedef Eigen::Matrix3d Matrix3;

  for(int k = 0; k < max_tests; ++k)
  {
    const Vector4 vec4 = Vector4::Random();
    const Quaternion quat(vec4.normalized());

    const Matrix3 rot = quat.toRotationMatrix();

    Matrix3 rot_proj = orthogonalProjection(rot);
    BOOST_CHECK(rot.isApprox(rot_proj));
  }

  for(int k = 0; k < max_tests; ++k)
  {
    const Matrix3 mat = Matrix3::Random();

    Matrix3 rot_proj = orthogonalProjection(mat);
    BOOST_CHECK((rot_proj.transpose()*rot_proj).isIdentity());
    BOOST_CHECK(fabs(rot_proj.determinant() - 1.) <= Eigen::NumTraits<double>::dummy_precision());
  }
}

BOOST_AUTO_TEST_SUITE_END()




Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2020 INRIA
3			//
4
5			#include <iostream>
6
7			#include <pinocchio/math/rotation.hpp>
8			#include <pinocchio/math/sincos.hpp>
9			#include <Eigen/Geometry>
10
11			#include <boost/variant.hpp> // to avoid C99 warnings
12
13			#include <boost/test/unit_test.hpp>
14			#include <boost/utility/binary.hpp>
15
16			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
17
18	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_toRotationMatrix)
19			{
20			using namespace pinocchio;
21		2	const int max_tests = 1e5;
22	✓✓	200002	for(int k = 0; k < max_tests; ++k)
23			{
24		200000	const double theta = std::rand();
25			double cos_value, sin_value;
26
27		200000	pinocchio::SINCOS(theta,&sin_value,&cos_value);
28	✓✗✓✗	200000	Eigen::Vector3d axis(Eigen::Vector3d::Random().normalized());
29
30	✓✗✓✗	200000	Eigen::Matrix3d rot; toRotationMatrix(axis,cos_value,sin_value,rot);
31	✓✗✓✗	200000	Eigen::Matrix3d rot_ref = Eigen::AngleAxisd(theta,axis).toRotationMatrix();
32
33	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200000	BOOST_CHECK(rot.isApprox(rot_ref));
34			}
35		2	}
36
37	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_orthogonal_projection)
38			{
39			using namespace pinocchio;
40		2	const int max_tests = 1e5;
41
42			typedef Eigen::Vector4d Vector4;
43			typedef Eigen::Quaterniond Quaternion;
44			typedef Eigen::Matrix3d Matrix3;
45
46	✓✓	200002	for(int k = 0; k < max_tests; ++k)
47			{
48	✓✗✓✗	200000	const Vector4 vec4 = Vector4::Random();
49	✓✗✓✗	200000	const Quaternion quat(vec4.normalized());
50
51	✓✗	200000	const Matrix3 rot = quat.toRotationMatrix();
52
53	✓✗	200000	Matrix3 rot_proj = orthogonalProjection(rot);
54	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200000	BOOST_CHECK(rot.isApprox(rot_proj));
55			}
56
57	✓✓	200002	for(int k = 0; k < max_tests; ++k)
58			{
59	✓✗✓✗	200000	const Matrix3 mat = Matrix3::Random();
60
61	✓✗	200000	Matrix3 rot_proj = orthogonalProjection(mat);
62	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200000	BOOST_CHECK((rot_proj.transpose()*rot_proj).isIdentity());
63	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	200000	BOOST_CHECK(fabs(rot_proj.determinant() - 1.) <= Eigen::NumTraits<double>::dummy_precision());
64			}
65		2	}
66
67			BOOST_AUTO_TEST_SUITE_END()
68
69