GCC Code Coverage Report

Directory:	./
File:	tests/control/test_control_pd.cpp
Date:	2025-05-13 12:28:21

	Exec	Total	Coverage
Lines:	31	31	100.0%
Branches:	88	176	50.0%

Line	Branch	Exec	Source
1			/*
2			* Copyright 2019,
3			* Olivier Stasse,
4			*
5			* CNRS/AIST
6			*
7			*/
8
9			#include <iostream>
10			#include <sot/core/debug.hh>
11
12			#ifndef WIN32
13			#include <unistd.h>
14			#endif
15
16			using namespace std;
17
18			#include <dynamic-graph/entity.h>
19			#include <dynamic-graph/factory.h>
20
21			#include <sot/core/control-pd.hh>
22			#include <sstream>
23
24			using namespace dynamicgraph;
25			using namespace dynamicgraph::sot;
26
27			#define BOOST_TEST_MODULE debug - control - pd
28
29			#include <boost/test/output_test_stream.hpp>
30			#include <boost/test/unit_test.hpp>
31
32	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(control_pd) {
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	sot::ControlPD *aControlPD = new ControlPD("acontrol_pd");
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->init(0.001);
35	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream Kpiss("[5](10.0,20.0,30.0,40.0,50.0)");
36	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream Kdiss("[5](0.10,0.20,0.30,0.40,0.50)");
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->KpSIN.set(Kpiss);
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->KdSIN.set(Kdiss);
39	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream posiss("[5](1.0,1.0,1.0,1.0,1.0)");
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->positionSIN.set(posiss);
41	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream dposiss("[5](3.0,3.1,3.2,3.3,3.4)");
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->desiredpositionSIN.set(dposiss);
43	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream veliss("[5](0.0,0.0,0.0,0.0,0.0)");
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->velocitySIN.set(veliss);
45	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	std::istringstream dveliss("[5](1.5,1.4,1.3,1.2,1.1)");
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->desiredvelocitySIN.set(dveliss);
47
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->controlSOUT.recompute(0);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->positionErrorSOUT.recompute(0);
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->velocityErrorSOUT.recompute(0);
51			{
52	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	boost::test_tools::output_test_stream output;
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->controlSOUT.get(output);
54	7/14 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(output.is_equal("20.15 42.28 66.39 92.48 120.55"));
55		2	}
56			{
57	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	boost::test_tools::output_test_stream output;
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->positionErrorSOUT.get(output);
59	7/14 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(output.is_equal("2 2.1 2.2 2.3 2.4"));
60		2	}
61			{
62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	boost::test_tools::output_test_stream output;
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aControlPD->velocityErrorSOUT.get(output);
64	7/14 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(output.is_equal("1.5 1.4 1.3 1.2 1.1"));
65		2	}
66		2	}
67