GCC Code Coverage Report

Directory: ./
File: unittest/visitor.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 96 96 100.0%
Branches: 222 428 51.9%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 //
4
5 #include "pinocchio/multibody/model.hpp"
6 #include "pinocchio/multibody/data.hpp"
7 #include "pinocchio/multibody/visitor.hpp"
8
9 #include <iostream>
10
11 #include <boost/test/unit_test.hpp>
12 #include <boost/utility/binary.hpp>
13
14 namespace bf = boost::fusion;
15
16 struct SimpleUnaryVisitor1 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor1>
17 {
18
19 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType;
20
21 template<typename JointModel>
22 52 static void algo(
23 const pinocchio::JointModelBase<JointModel> & jmodel,
24 pinocchio::JointDataBase<typename JointModel::JointDataDerived> & jdata,
25 const pinocchio::Model & model,
26 pinocchio::Data & data,
27 pinocchio::JointIndex jindex)
28 {
29 PINOCCHIO_UNUSED_VARIABLE(jdata);
30 PINOCCHIO_UNUSED_VARIABLE(model);
31 PINOCCHIO_UNUSED_VARIABLE(data);
32
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 52 BOOST_CHECK(jindex == jmodel.id());
33
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 52 std::cout << "joint name: " << jmodel.shortname() << std::endl;
34 52 }
35 };
36
37 struct SimpleUnaryVisitor2 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor2>
38 {
39
40 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType;
41
42 template<typename JointModel>
43 52 static void algo(
44 const pinocchio::JointModelBase<JointModel> & jmodel,
45 const pinocchio::Model & model,
46 pinocchio::Data & data,
47 pinocchio::JointIndex jindex)
48 {
49 PINOCCHIO_UNUSED_VARIABLE(model);
50 PINOCCHIO_UNUSED_VARIABLE(data);
51 PINOCCHIO_UNUSED_VARIABLE(jindex);
52
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 52 BOOST_CHECK(jindex == jmodel.id());
53
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 52 std::cout << "joint name: " << jmodel.shortname() << std::endl;
54 52 }
55 };
56
57 struct SimpleUnaryVisitor3 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor3>
58 {
59
60 template<typename JointModel>
61 52 static void algo(const pinocchio::JointModelBase<JointModel> & jmodel)
62 {
63
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 52 BOOST_CHECK(!jmodel.shortname().empty());
64
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 52 std::cout << "joint name: " << jmodel.shortname() << std::endl;
65 52 }
66 };
67
68 struct SimpleUnaryVisitor4 : public pinocchio::fusion::JointUnaryVisitorBase<SimpleUnaryVisitor4>
69 {
70
71 template<typename JointModel>
72 52 static void algo(
73 const pinocchio::JointModelBase<JointModel> & jmodel,
74 pinocchio::JointDataBase<typename JointModel::JointDataDerived> & jdata)
75 {
76 PINOCCHIO_UNUSED_VARIABLE(jdata);
77
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 52 BOOST_CHECK(!jmodel.shortname().empty());
78
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 52 std::cout << "joint name: " << jmodel.shortname() << std::endl;
79 52 }
80 };
81
82 struct SimpleBinaryVisitor1 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor1>
83 {
84
85 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType;
86
87 template<typename JointModel1, typename JointModel2>
88 52 static void algo(
89 const pinocchio::JointModelBase<JointModel1> & jmodel1,
90 const pinocchio::JointModelBase<JointModel2> & jmodel2,
91 pinocchio::JointDataBase<typename JointModel1::JointDataDerived> & jdata1,
92 pinocchio::JointDataBase<typename JointModel2::JointDataDerived> & jdata2,
93 const pinocchio::Model & model,
94 pinocchio::Data & data,
95 pinocchio::JointIndex jindex)
96 {
97 PINOCCHIO_UNUSED_VARIABLE(jdata1);
98 PINOCCHIO_UNUSED_VARIABLE(jdata2);
99 PINOCCHIO_UNUSED_VARIABLE(model);
100 PINOCCHIO_UNUSED_VARIABLE(data);
101 PINOCCHIO_UNUSED_VARIABLE(jindex);
102
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 52 BOOST_CHECK(jindex == jmodel1.id());
103
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 52 BOOST_CHECK(jindex == jmodel2.id());
104
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 52 std::cout << "joint1 name: " << jmodel1.shortname() << std::endl;
105
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 52 std::cout << "joint2 name: " << jmodel2.shortname() << std::endl;
106 }
107 };
108
109 struct SimpleBinaryVisitor2 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor2>
110 {
111
112 typedef bf::vector<const pinocchio::Model &, pinocchio::Data &, pinocchio::JointIndex> ArgsType;
113
114 template<typename JointModel1, typename JointModel2>
115 52 static void algo(
116 const pinocchio::JointModelBase<JointModel1> & jmodel1,
117 const pinocchio::JointModelBase<JointModel2> & jmodel2,
118 const pinocchio::Model & model,
119 pinocchio::Data & data,
120 pinocchio::JointIndex jindex)
121 {
122 PINOCCHIO_UNUSED_VARIABLE(model);
123 PINOCCHIO_UNUSED_VARIABLE(data);
124 PINOCCHIO_UNUSED_VARIABLE(jindex);
125
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 52 BOOST_CHECK(jindex == jmodel1.id());
126
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 52 BOOST_CHECK(jindex == jmodel2.id());
127
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 52 std::cout << "joint1 name: " << jmodel1.shortname() << std::endl;
128
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 52 std::cout << "joint2 name: " << jmodel2.shortname() << std::endl;
129 }
130 };
131
132 struct SimpleBinaryVisitor3 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor3>
133 {
134 template<typename JointModel1, typename JointModel2>
135 52 static void algo(
136 const pinocchio::JointModelBase<JointModel1> & jmodel1,
137 const pinocchio::JointModelBase<JointModel2> & jmodel2)
138 {
139
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 52 BOOST_CHECK(!jmodel1.shortname().empty());
140
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 52 BOOST_CHECK(!jmodel2.shortname().empty());
141
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 52 std::cout << "joint1 name: " << jmodel1.shortname() << std::endl;
142
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 52 std::cout << "joint2 name: " << jmodel2.shortname() << std::endl;
143 }
144 };
145
146 struct SimpleBinaryVisitor4 : public pinocchio::fusion::JointBinaryVisitorBase<SimpleBinaryVisitor4>
147 {
148 template<typename JointModel1, typename JointModel2>
149 52 static void algo(
150 const pinocchio::JointModelBase<JointModel1> & jmodel1,
151 const pinocchio::JointModelBase<JointModel2> & jmodel2,
152 pinocchio::JointDataBase<typename JointModel1::JointDataDerived> & jdata1,
153 pinocchio::JointDataBase<typename JointModel2::JointDataDerived> & jdata2)
154 {
155 PINOCCHIO_UNUSED_VARIABLE(jdata1);
156 PINOCCHIO_UNUSED_VARIABLE(jdata2);
157
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 52 BOOST_CHECK(!jmodel1.shortname().empty());
158
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 52 BOOST_CHECK(!jmodel2.shortname().empty());
159
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 52 std::cout << "joint1 name: " << jmodel1.shortname() << std::endl;
160
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 52 std::cout << "joint2 name: " << jmodel2.shortname() << std::endl;
161
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 52 std::cout << "jdata1 name: " << jdata1.classname() << std::endl;
162
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 52 std::cout << "jdata2 name: " << jdata2.classname() << std::endl;
163 }
164 };
165
166 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
167
168 template<typename JointModel_>
169 struct init;
170
171 template<typename JointModel_>
172 struct init
173 {
174 76 static JointModel_ run(const pinocchio::Model & /* model*/)
175 {
176 76 JointModel_ jmodel;
177 76 return jmodel;
178 }
179 };
180
181 template<typename Scalar, int Options>
182 struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>>
183 {
184 typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel;
185
186 2 static JointModel run(const pinocchio::Model & /* model*/)
187 {
188 typedef typename JointModel::Vector3 Vector3;
189
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 2 JointModel jmodel(Vector3::Random().normalized());
190
191 2 return jmodel;
192 }
193 };
194
195 template<typename Scalar, int Options>
196 struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>>
197 {
198 typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel;
199
200 2 static JointModel run(const pinocchio::Model & /* model*/)
201 {
202 typedef typename JointModel::Vector3 Vector3;
203
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 2 JointModel jmodel(Vector3::Random().normalized());
204
205 2 return jmodel;
206 }
207 };
208
209 template<typename Scalar, int Options>
210 struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>>
211 {
212 typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel;
213
214 2 static JointModel run(const pinocchio::Model & /* model*/)
215 {
216 typedef typename JointModel::Vector3 Vector3;
217
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 2 JointModel jmodel(Vector3::Random().normalized());
218
219 2 return jmodel;
220 }
221 };
222
223 template<typename Scalar, int Options, template<typename, int> class JointCollection>
224 struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>>
225 {
226 typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel;
227
228 static JointModel run(const pinocchio::Model & /* model*/)
229 {
230 typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
231 JointModel jmodel((JointModelRX()));
232
233 return jmodel;
234 }
235 };
236
237 template<typename Scalar, int Options, template<typename, int> class JointCollection>
238 struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>>
239 {
240 typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel;
241
242 2 static JointModel run(const pinocchio::Model & /* model*/)
243 {
244 typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
245 typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY;
246 typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ;
247
248
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 2 JointModel jmodel(JointModelRX(), pinocchio::SE3::Random());
249
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 2 jmodel.addJoint(JointModelRY(), pinocchio::SE3::Random());
250
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 2 jmodel.addJoint(JointModelRZ(), pinocchio::SE3::Random());
251
252 2 return jmodel;
253 }
254 };
255
256 template<typename JointModel_>
257 struct init<pinocchio::JointModelMimic<JointModel_>>
258 {
259 typedef pinocchio::JointModelMimic<JointModel_> JointModel;
260
261 12 static JointModel run(const pinocchio::Model & model)
262 {
263
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 12 const pinocchio::JointIndex joint_id = model.getJointId(JointModel_::classname());
264
265
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 12 JointModel jmodel(boost::get<JointModel_>(model.joints[joint_id]), 1., 0.);
266
267 12 return jmodel;
268 }
269 };
270
271 struct AppendJointToModel
272 {
273 2 AppendJointToModel(pinocchio::Model & model)
274 2 : model(model)
275 {
276 2 }
277
278 template<typename JointModel>
279 104 void operator()(const pinocchio::JointModelBase<JointModel> &) const
280 {
281
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 104 JointModel jmodel = init<JointModel>::run(model);
282
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 104 model.addJoint(model.joints.size() - 1, jmodel, pinocchio::SE3::Random(), jmodel.classname());
283 104 }
284
285 pinocchio::Model & model;
286 };
287
288
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 4 BOOST_AUTO_TEST_CASE(test_run_over_all_joints_unary_visitor)
289 {
290 using namespace pinocchio;
291
292 typedef JointCollectionDefault::JointModelVariant Variant;
293
294
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 2 Model model;
295
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 2 boost::mpl::for_each<Variant::types>(AppendJointToModel(model));
296
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 2 Data data(model);
297
298
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
299 {
300
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 52 SimpleUnaryVisitor1::run(
301
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 104 model.joints[i], data.joints[i], SimpleUnaryVisitor1::ArgsType(model, data, i));
302 }
303
304
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
305 {
306
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 52 SimpleUnaryVisitor2::run(model.joints[i], SimpleUnaryVisitor2::ArgsType(model, data, i));
307 }
308
309
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
310 {
311
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 52 SimpleUnaryVisitor3::run(model.joints[i]);
312 }
313
314
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
315 {
316
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 52 SimpleUnaryVisitor4::run(model.joints[i], data.joints[i]);
317 }
318 2 }
319
320
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 4 BOOST_AUTO_TEST_CASE(test_run_over_all_joints_binary_visitor)
321 {
322 using namespace pinocchio;
323
324 typedef JointCollectionDefault::JointModelVariant Variant;
325
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 2 Model model;
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 2 boost::mpl::for_each<Variant::types>(AppendJointToModel(model));
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 2 Data data(model);
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
331 {
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 52 SimpleBinaryVisitor1::run(
333 52 model.joints[i], model.joints[i], data.joints[i], data.joints[i],
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 104 SimpleBinaryVisitor1::ArgsType(model, data, i));
335 }
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
338 {
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 52 SimpleBinaryVisitor2::run(
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 104 model.joints[i], model.joints[i], SimpleBinaryVisitor2::ArgsType(model, data, i));
341 }
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
344 {
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 52 SimpleBinaryVisitor3::run(model.joints[i], model.joints[i]);
346 }
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 54 for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
349 {
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 52 SimpleBinaryVisitor4::run(model.joints[i], model.joints[i], data.joints[i], data.joints[i]);
351 }
352 2 }
353
354 BOOST_AUTO_TEST_SUITE_END()
355