GCC Code Coverage Report

Directory:	./
File:	tests/test_constructor.cpp
Date:	2024-11-28 11:10:33

	Exec	Total	Coverage
Lines:	23	23	100.0%
Branches:	135	270	50.0%

Line	Branch	Exec	Source
1
2			/--------STD-------------/
3			#include <sstream>
4
5			/-----------BOOST TEST SUITE-------------/
6			#define BOOST_TEST_MODULE sot_dynamic_constructor
7			#include <boost/test/floating_point_comparison.hpp>
8			#include <boost/test/output_test_stream.hpp>
9			#include <boost/test/unit_test.hpp>
10
11			/-----------SOT DYNAMIC ------------/
12			#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
13
14			#include <sot/core/debug.hh>
15
16			/-----------DYNAMIC GRAPH ------------/
17			#include <dynamic-graph/linear-algebra.h>
18
19			#include <sot/core/exception-abstract.hh>
20
21			/-----------PINOCCHIO-------------/
22			#include <pinocchio/multibody/model.hpp>
23			#include <pinocchio/parsers/urdf.hpp>
24
25			using namespace dynamicgraph::sot;
26
27			/* ----- TEST SIGNAL CLASS -----*/
28
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30			/-----------------------CONSTRUCTOR-----------------------------------------/
31	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DynamicPinocchio dynamic_("sot_dynamic_test");
32	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
33			std::strcmp(
34			dynamic_.jointPositionSIN.getName().c_str(),
35			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),
36			0);
37	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
38			std::strcmp(
39			dynamic_.freeFlyerPositionSIN.getName().c_str(),
40			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),
41			0);
42	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
43			std::strcmp(
44			dynamic_.jointVelocitySIN.getName().c_str(),
45			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),
46			0);
47	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
48			std::strcmp(
49			dynamic_.freeFlyerVelocitySIN.getName().c_str(),
50			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),
51			0);
52	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
53			std::strcmp(
54			dynamic_.jointAccelerationSIN.getName().c_str(),
55			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),
56			0);
57	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
58			std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),
59			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::"
60			"ffacceleration"),
61			0);
62	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
63			std::strcmp(
64			dynamic_.newtonEulerSINTERN.getName().c_str(),
65			"sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"),
66			0);
67	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
68			std::strcmp(dynamic_.zmpSOUT.getName().c_str(),
69			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"),
70			0);
71	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
72			std::strcmp(
73			dynamic_.JcomSOUT.getName().c_str(),
74			"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"),
75			0);
76	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
77			std::strcmp(dynamic_.comSOUT.getName().c_str(),
78			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"),
79			0);
80	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
81			std::strcmp(
82			dynamic_.inertiaSOUT.getName().c_str(),
83			"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"),
84			0);
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86			std::strcmp(
87			dynamic_.footHeightSOUT.getName().c_str(),
88			"sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"),
89			0);
90	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
91			std::strcmp(
92			dynamic_.upperJlSOUT.getName().c_str(),
93			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"),
94			0);
95	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(
96			std::strcmp(
97			dynamic_.lowerJlSOUT.getName().c_str(),
98			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"),
99			0);
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101			std::strcmp(
102			dynamic_.upperVlSOUT.getName().c_str(),
103			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"),
104			0);
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106			std::strcmp(
107			dynamic_.upperTlSOUT.getName().c_str(),
108			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"),
109			0);
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111			"sotDynamicPinocchio(sot_dynamic_test)::output("
112			"matrix)::inertiaRotor"),
113			0);
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115			std::strcmp(
116			dynamic_.MomentaSOUT.getName().c_str(),
117			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"),
118			0);
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120			"sotDynamicPinocchio(sot_dynamic_test)::output("
121			"vector)::angularmomentum"),
122			0);
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124			"sotDynamicPinocchio(sot_dynamic_test)::output("
125			"vector)::dynamicDrift"),
126			0);
127		2	}
128

1

2

/*--------STD-------------*/

3

#include <sstream>

4

5

/*-----------BOOST TEST SUITE-------------*/

6

#define BOOST_TEST_MODULE sot_dynamic_constructor

7

#include <boost/test/floating_point_comparison.hpp>

8

#include <boost/test/output_test_stream.hpp>

9

#include <boost/test/unit_test.hpp>

10

11

/*-----------SOT DYNAMIC ------------*/

12

#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>

13

14

#include <sot/core/debug.hh>

15

16

/*-----------DYNAMIC GRAPH ------------*/

17

#include <dynamic-graph/linear-algebra.h>

18

19

#include <sot/core/exception-abstract.hh>

20

21

/*-----------PINOCCHIO-------------*/

22

#include <pinocchio/multibody/model.hpp>

23

#include <pinocchio/parsers/urdf.hpp>

24

25

using namespace dynamicgraph::sot;

26

27

/* ----- TEST SIGNAL CLASS -----*/

28

29

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4

BOOST_AUTO_TEST_CASE(constructor) {

30

/*-----------------------CONSTRUCTOR-----------------------------------------*/

31

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4

DynamicPinocchio dynamic_("sot_dynamic_test");

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2

BOOST_CHECK_EQUAL(

33

std::strcmp(

34

dynamic_.jointPositionSIN.getName().c_str(),

35

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),

36

0);

37

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2

BOOST_CHECK_EQUAL(

38

std::strcmp(

39

dynamic_.freeFlyerPositionSIN.getName().c_str(),

40

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),

41

0);

42

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2

BOOST_CHECK_EQUAL(

43

std::strcmp(

44

dynamic_.jointVelocitySIN.getName().c_str(),

45

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),

46

0);

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2

BOOST_CHECK_EQUAL(

48

std::strcmp(

49

dynamic_.freeFlyerVelocitySIN.getName().c_str(),

50

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),

51

0);

52

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2

BOOST_CHECK_EQUAL(

53

std::strcmp(

54

dynamic_.jointAccelerationSIN.getName().c_str(),

55

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),

56

0);

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2

BOOST_CHECK_EQUAL(

58

std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),

59

"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::"

60

"ffacceleration"),

61

0);

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2

BOOST_CHECK_EQUAL(

63

std::strcmp(

64

dynamic_.newtonEulerSINTERN.getName().c_str(),

65

"sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"),

66

0);

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2

BOOST_CHECK_EQUAL(

68

std::strcmp(dynamic_.zmpSOUT.getName().c_str(),

69

"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"),

70

0);

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BOOST_CHECK_EQUAL(

72

std::strcmp(

73

dynamic_.JcomSOUT.getName().c_str(),

74

"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"),

75

0);

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BOOST_CHECK_EQUAL(

77

std::strcmp(dynamic_.comSOUT.getName().c_str(),

78

"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"),

79

0);

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BOOST_CHECK_EQUAL(

81

std::strcmp(

82

dynamic_.inertiaSOUT.getName().c_str(),

83

"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"),

84

0);

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BOOST_CHECK_EQUAL(

86

std::strcmp(

87

dynamic_.footHeightSOUT.getName().c_str(),

88

"sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"),

89

0);

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BOOST_CHECK_EQUAL(

91

std::strcmp(

92

dynamic_.upperJlSOUT.getName().c_str(),

93

"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"),

94

0);

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BOOST_CHECK_EQUAL(

96

std::strcmp(

97

dynamic_.lowerJlSOUT.getName().c_str(),

98

"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"),

99

0);

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BOOST_CHECK_EQUAL(

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std::strcmp(

102

dynamic_.upperVlSOUT.getName().c_str(),

103

"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"),

104

0);

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BOOST_CHECK_EQUAL(

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std::strcmp(

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dynamic_.upperTlSOUT.getName().c_str(),

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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"),

109

0);

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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),

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"sotDynamicPinocchio(sot_dynamic_test)::output("

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"matrix)::inertiaRotor"),

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0);

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BOOST_CHECK_EQUAL(

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std::strcmp(

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dynamic_.MomentaSOUT.getName().c_str(),

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"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"),

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0);

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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),

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"sotDynamicPinocchio(sot_dynamic_test)::output("

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"vector)::angularmomentum"),

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0);

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BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),

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"sotDynamicPinocchio(sot_dynamic_test)::output("

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"vector)::dynamicDrift"),

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0);

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2

}

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