GCC Code Coverage Report

Directory: ./
File: tests/filters/test_filter_differentiator.cpp
Date: 2024-08-13 12:13:25
Exec Total Coverage
Lines: 31 31 100.0%
Branches: 71 140 50.7%
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/filter-differentiator.hh>
22 #include <sstream>
23
24 using namespace dynamicgraph;
25 using namespace dynamicgraph::sot;
26
27 #define BOOST_TEST_MODULE test - filter - differentiator
28
29 #include <boost/test/output_test_stream.hpp>
30 #include <boost/test/unit_test.hpp>
31
32 using boost::test_tools::output_test_stream;
33
34
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(test_filter_differentiator) {
35 sot::FilterDifferentiator *aFilterDiff =
36
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 FilterDifferentiator("filter_differentiator");
37
38
2/4
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
 2 Eigen::VectorXd filter_num(7), filter_den(7);
39
40
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(0) = 2.16439898e-05;
41
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(1) = 4.43473520e-05;
42
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(2) = -1.74065002e-05;
43
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(3) = -8.02197247e-05;
44
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(4) = -1.74065002e-05;
45
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(5) = 4.43473520e-05;
46
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_num(6) = 2.16439898e-05;
47
48
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(0) = 1.;
49
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(1) = -5.32595322;
50
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(2) = 11.89749109;
51
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(3) = -14.26803139;
52
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(4) = 9.68705647;
53
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(5) = -3.52968633;
54
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 filter_den(6) = 0.53914042;
55
56 2 double timestep = 0.001;
57 2 int xSize = 16;
58
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 aFilterDiff->init(timestep, xSize, filter_num, filter_den);
59
60 2 srand(0);
61
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 dynamicgraph::Vector aVec(16);
62
3/4
✓ Branch 2 taken 16 times.
✗ Branch 3 not taken.
✓ Branch 4 taken 16 times.
✓ Branch 5 taken 1 times.
 34 for (unsigned int i = 0; i < 16; i++) aVec(i) = (double)(i + rand() % 100);
63
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 aFilterDiff->m_xSIN = aVec;
64
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 aFilterDiff->m_x_filteredSOUT.recompute(0);
65
2/4
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1 times.
✗ Branch 5 not taken.
 2 output_test_stream output;
66
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 ostringstream anoss;
67
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 dynamicgraph::Vector outVec;
68
1/2
✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
 2 aFilterDiff->m_x_filteredSOUT.get(output);
69
70
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(
71 output.is_equal("82.5614 "
72 "86.5403 "
73 "78.5826 "
74 "17.9049 "
75 "96.4874 "
76 "39.7886 "
77 "91.5139 "
78 "98.4769 "
79 "56.6988 "
80 "29.8415 "
81 "71.6195 "
82 "37.7992 "
83 "101.461 "
84 "71.6195 "
85 "76.5931 "
86 "40.7834"));
87 2 }
88