GCC Code Coverage Report

Directory:	./
File:	tests/math/matrix-twist.cpp
Date:	2024-08-13 12:13:25

	Exec	Total	Coverage
Lines:	74	74	100.0%
Branches:	596	1154	51.6%

Line	Branch	Exec	Source
1			// Copyright 2011 Thomas Moulard.
2
3			#include <sstream>
4
5			#define BOOST_TEST_MODULE matrix_twist
6
7			#include <boost/test/floating_point_comparison.hpp>
8			#include <boost/test/output_test_stream.hpp>
9			#include <boost/test/unit_test.hpp>
10			#include <sot/core/matrix-geometry.hh>
11
12			using boost::test_tools::output_test_stream;
13
14			#define MATRIX_BOOST_REQUIRE_CLOSE(N, M, LEFT, RIGHT, TOLERANCE) \
15			for (unsigned i = 0; i < N; ++i) \
16			for (unsigned j = 0; j < M; ++j) \
17			BOOST_REQUIRE_CLOSE(LEFT(i, j), RIGHT(i, j), TOLERANCE)
18
19			#define MATRIX_6x6_BOOST_REQUIRE_CLOSE(LEFT, RIGHT, TOLERANCE) \
20			MATRIX_BOOST_REQUIRE_CLOSE(6, 6, LEFT, RIGHT, TOLERANCE)
21
22			#define MATRIX_4x4_INIT(M, A00, A01, A02, A03, A10, A11, A12, A13, A20, A21, \
23			A22, A23, A30, A31, A32, A33) \
24			M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03; \
25			M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13; \
26			M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23; \
27			M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33
28
29			#define MATRIX_6x6_INIT(M, A00, A01, A02, A03, A04, A05, A10, A11, A12, A13, \
30			A14, A15, A20, A21, A22, A23, A24, A25, A30, A31, A32, \
31			A33, A34, A35, A40, A41, A42, A43, A44, A45, A50, A51, \
32			A52, A53, A54, A55) \
33			M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03, M(0, 4) = A04, \
34			M(0, 5) = A05; \
35			M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13, M(1, 4) = A14, \
36			M(1, 5) = A15; \
37			M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23, M(2, 4) = A24, \
38			M(2, 5) = A25; \
39			M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33, M(3, 4) = A34, \
40			M(3, 5) = A35; \
41			M(4, 0) = A40, M(4, 1) = A41, M(4, 2) = A42, M(4, 3) = A43, M(4, 4) = A44, \
42			M(4, 5) = A45; \
43			M(5, 0) = A50, M(5, 1) = A51, M(5, 2) = A52, M(5, 3) = A53, M(5, 4) = A54, \
44			M(5, 5) = A55
45
46			// For reminder:
47			//
48			// R \in R^3 x R^3
49			// M = [R ; t] \in R^4 x R^4
50			// [0 ; 1]
51			//
52			// Twist(M) = [R ; t^ R] \in R^6 x R^6
53			// [0 ; R]
54			//
55			// t^ R \in R^3xR^3
56			//
57			//
58			// Twist(M)^{-1} = [R^T ; -R^T t^]
59			// [0 ; R^T ]
60
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62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dynamicgraph::sot::MatrixHomogeneous M(Eigen::Matrix4d::Identity());
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twist;
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::buildFrom(M, twist);
65
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69	5/6 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 30 times. ✓ Branch 3 taken 36 times. ✗ Branch 4 not taken. ✓ Branch 5 taken 36 times. ✓ Branch 6 taken 6 times.	84	for (unsigned j = 0; j < 6; ++j) twistRef(i, j) = (i == j) ? 1. : 0.;
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72		2	}
73
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76
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78			0., 1.);
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twist;
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83			-1., 0., 0., 0., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 1.,
84			0., 0., 0., 0., 0., 0., -1., 0.);
85
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87		2	}
88
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90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixHomogeneous M;
91
92		2	double tx = 11.;
93		2	double ty = 22.;
94		2	double tz = 33.;
95
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97			1.);
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twist;
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100
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103			0., 0., 1., -ty, tx, 0., 0., 0., 0., 1., 0., 0., 0., 0., 0.,
104			0., 1., 0., 0., 0., 0., 0., 0., 1.);
105
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107		2	}
108
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110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixHomogeneous M;
111
112		2	double tx = 11.;
113		2	double ty = 22.;
114		2	double tz = 33.;
115
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117			0., 1.);
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120
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123			1., 0., 0., 0., -tx, -ty, 0., 0., 0., 0., 0., 1., 0., 0., 0.,
124			0., -1., 0., 0., 0., 0., 1., 0., 0.);
125
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127		2	}
128
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130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixHomogeneous M;
131
132		2	double tx = 11.;
133		2	double ty = 22.;
134		2	double tz = 33.;
135
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137			1.);
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twist;
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::buildFrom(M, twist);
140
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142
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twistInv_;
144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	twistInv_ = twist.inverse();
145
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148			0., 0., 1., ty, -tx, 0., 0., 0., 0., 1., 0., 0., 0., 0., 0.,
149			0., 1., 0., 0., 0., 0., 0., 0., 1.);
150
151	12/20 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 36 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 36 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 36 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 36 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 36 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 36 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 36 times. ✓ Branch 28 taken 36 times. ✓ Branch 29 taken 6 times. ✓ Branch 30 taken 6 times. ✓ Branch 31 taken 1 times.	86	MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv, twistRef, 0.001);
152	12/20 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 36 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 36 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 36 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 36 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 36 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 36 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 36 times. ✓ Branch 28 taken 36 times. ✓ Branch 29 taken 6 times. ✓ Branch 30 taken 6 times. ✓ Branch 31 taken 1 times.	86	MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv_, twistRef, 0.001);
153		2	}
154
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156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixHomogeneous M;
157
158		2	double tx = 11.;
159		2	double ty = 22.;
160		2	double tz = 33.;
161
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163			0., 1.);
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::MatrixTwist twist;
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::sot::buildFrom(M, twist);
166
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168
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170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	twistInv_ = twist.inverse();
171
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174			1., 0., 0., -0., tz, -ty, 0., 0., 0., 0., 0., 1., 0., 0., 0.,
175			0., -1., 0., 0., 0., 0., 1., 0., 0.);
176
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178	12/20 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 36 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 36 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 36 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 36 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 36 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 36 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 36 times. ✓ Branch 28 taken 36 times. ✓ Branch 29 taken 6 times. ✓ Branch 30 taken 6 times. ✓ Branch 31 taken 1 times.	86	MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv_, twistRef, 0.001);
179		2	}
180