GCC Code Coverage Report

Directory:	./
File:	tests/control/test_control_admittance.cpp
Date:	2024-12-13 12:22:33

	Exec	Total	Coverage
Lines:	27	27	100.0%
Branches:	100	200	50.0%

Line	Branch	Exec	Source
1			/*
2			* Copyright 2019,
3			* Noëlie Ramuzat,
4			*
5			*
6			*/
7
8			#include <iostream>
9			#include <sot/core/debug.hh>
10
11			#ifndef WIN32
12			#include <unistd.h>
13			#endif
14
15			using namespace std;
16
17			#include <dynamic-graph/entity.h>
18			#include <dynamic-graph/factory.h>
19
20			#include <sot/core/admittance-control-op-point.hh>
21			#include <sstream>
22
23			using namespace dynamicgraph;
24			using namespace dynamicgraph::sot;
25
26			#define BOOST_TEST_MODULE debug - control - admittance
27
28			#include <boost/test/output_test_stream.hpp>
29			#include <boost/test/unit_test.hpp>
30
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32			sot::core::AdmittanceControlOpPoint *aControlAdm =
33	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	new sot::core::AdmittanceControlOpPoint("acontrol_admittance");
34
35	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream Kp("[6](10.0,10.0,10.0,10.0,10.0,10.0)");
36	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream Kd("[6](0.0,0.0,0.0,0.0,0.0,0.0)");
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_KpSIN.set(Kp);
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_KdSIN.set(Kd);
39	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream dqSaturation("[6](10.0,10.0,10.0,10.0,10.0,10.0)");
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_dqSaturationSIN.set(dqSaturation);
41	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream w_forceDes("[6](100.0,0.0,0.0,0.0,0.0,0.0)");
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_w_forceDesSIN.set(w_forceDes);
43	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream force("[6](10.0,0.0,10.0,0.0,0.0,0.0)");
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_forceSIN.set(force);
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixHomogeneous opPose;
46	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	opPose.translation() << 0.3, 0.0, 0.0;
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48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_opPoseSIN = opPose;
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixHomogeneous sensorPose;
50	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	sensorPose.translation() << 0.3, 0.0, 0.0;
51	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken.	2	sensorPose.linear() << 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0;
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_sensorPoseSIN = sensorPose;
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->init(0.001);
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlAdm->m_dqSOUT.recompute(0);
56			{
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dynamicgraph::Vector expected(6);
58	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	expected << 1.1, 0.0, -0.109, 0.0, 0.03, 0.0;
59	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(aControlAdm->m_dqSOUT(0).isApprox(expected));
60		2	}
61		2	}
62