GCC Code Coverage Report

Directory: ./
File: tests/filters/test_filter_differentiator.cpp
Date: 2025-05-13 12:28:21
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
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 4 BOOST_AUTO_TEST_CASE(test_filter_differentiator) {
35 sot::FilterDifferentiator *aFilterDiff =
36
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 2 new FilterDifferentiator("filter_differentiator");
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 2 Eigen::VectorXd filter_num(7), filter_den(7);
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 2 filter_num(0) = 2.16439898e-05;
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 2 filter_num(1) = 4.43473520e-05;
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 2 filter_num(2) = -1.74065002e-05;
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 2 filter_num(3) = -8.02197247e-05;
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 2 filter_num(4) = -1.74065002e-05;
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 2 filter_num(5) = 4.43473520e-05;
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 2 filter_num(6) = 2.16439898e-05;
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 2 filter_den(0) = 1.;
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 2 filter_den(1) = -5.32595322;
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 2 filter_den(2) = 11.89749109;
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 2 filter_den(3) = -14.26803139;
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 2 filter_den(4) = 9.68705647;
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 2 filter_den(5) = -3.52968633;
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 2 filter_den(6) = 0.53914042;
55
56 2 double timestep = 0.001;
57 2 int xSize = 16;
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 2 aFilterDiff->init(timestep, xSize, filter_num, filter_den);
59
60 2 srand(0);
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 2 dynamicgraph::Vector aVec(16);
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 34 for (unsigned int i = 0; i < 16; i++) aVec(i) = (double)(i + rand() % 100);
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 2 aFilterDiff->m_xSIN = aVec;
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 2 aFilterDiff->m_x_filteredSOUT.recompute(0);
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 2 output_test_stream output;
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 2 ostringstream anoss;
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 2 dynamicgraph::Vector outVec;
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 2 aFilterDiff->m_x_filteredSOUT.get(output);
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 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