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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	tests/test_constructor.cpp	Lines:	23	23	100.0 %
Date:	2023-03-28 11:05:13	Branches:	135	270	50.0 %



/*--------STD-------------*/
#include <sstream>

/*-----------BOOST TEST SUITE-------------*/
#define BOOST_TEST_MODULE sot_dynamic_constructor
#include <boost/test/floating_point_comparison.hpp>
#include <boost/test/output_test_stream.hpp>
#include <boost/test/unit_test.hpp>

/*-----------SOT DYNAMIC ------------*/
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>

#include <sot/core/debug.hh>

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

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

/*-----------PINOCCHIO-------------*/
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>

using namespace dynamicgraph::sot;

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

BOOST_AUTO_TEST_CASE(constructor) {
  /*-----------------------CONSTRUCTOR-----------------------------------------*/
  DynamicPinocchio dynamic_("sot_dynamic_test");
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointPositionSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.freeFlyerPositionSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointVelocitySIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.freeFlyerVelocitySIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.jointAccelerationSIN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::input(vector)::"
                  "ffacceleration"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.newtonEulerSINTERN.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.zmpSOUT.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.JcomSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(dynamic_.comSOUT.getName().c_str(),
                  "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.inertiaSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.footHeightSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperJlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.lowerJlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperVlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"),
      0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.upperTlSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"),
      0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "matrix)::inertiaRotor"),
                    0);
  BOOST_CHECK_EQUAL(
      std::strcmp(
          dynamic_.MomentaSOUT.getName().c_str(),
          "sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"),
      0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "vector)::angularmomentum"),
                    0);
  BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),
                                "sotDynamicPinocchio(sot_dynamic_test)::output("
                                "vector)::dynamicDrift"),
                    0);
}


Generated by: GCOVR (Version 4.2)

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
29	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(constructor) {
30			/-----------------------CONSTRUCTOR-----------------------------------------/
31	✓✗✓✗	6	DynamicPinocchio dynamic_("sot_dynamic_test");
32	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
33			std::strcmp(
34			dynamic_.jointPositionSIN.getName().c_str(),
35			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),
36			0);
37	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
38			std::strcmp(
39			dynamic_.freeFlyerPositionSIN.getName().c_str(),
40			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),
41			0);
42	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
43			std::strcmp(
44			dynamic_.jointVelocitySIN.getName().c_str(),
45			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),
46			0);
47	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
48			std::strcmp(
49			dynamic_.freeFlyerVelocitySIN.getName().c_str(),
50			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),
51			0);
52	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
53			std::strcmp(
54			dynamic_.jointAccelerationSIN.getName().c_str(),
55			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),
56			0);
57	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
58			std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),
59			"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::"
60			"ffacceleration"),
61			0);
62	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
63			std::strcmp(
64			dynamic_.newtonEulerSINTERN.getName().c_str(),
65			"sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler"),
66			0);
67	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
68			std::strcmp(dynamic_.zmpSOUT.getName().c_str(),
69			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp"),
70			0);
71	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
72			std::strcmp(
73			dynamic_.JcomSOUT.getName().c_str(),
74			"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom"),
75			0);
76	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
77			std::strcmp(dynamic_.comSOUT.getName().c_str(),
78			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com"),
79			0);
80	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
81			std::strcmp(
82			dynamic_.inertiaSOUT.getName().c_str(),
83			"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia"),
84			0);
85	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
86			std::strcmp(
87			dynamic_.footHeightSOUT.getName().c_str(),
88			"sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight"),
89			0);
90	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
91			std::strcmp(
92			dynamic_.upperJlSOUT.getName().c_str(),
93			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl"),
94			0);
95	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
96			std::strcmp(
97			dynamic_.lowerJlSOUT.getName().c_str(),
98			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl"),
99			0);
100	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
101			std::strcmp(
102			dynamic_.upperVlSOUT.getName().c_str(),
103			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl"),
104			0);
105	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
106			std::strcmp(
107			dynamic_.upperTlSOUT.getName().c_str(),
108			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl"),
109			0);
110	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),
111			"sotDynamicPinocchio(sot_dynamic_test)::output("
112			"matrix)::inertiaRotor"),
113			0);
114	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(
115			std::strcmp(
116			dynamic_.MomentaSOUT.getName().c_str(),
117			"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta"),
118			0);
119	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),
120			"sotDynamicPinocchio(sot_dynamic_test)::output("
121			"vector)::angularmomentum"),
122			0);
123	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),
124			"sotDynamicPinocchio(sot_dynamic_test)::output("
125			"vector)::dynamicDrift"),
126			0);
127		2	}