GCC Code Coverage Report

Directory:	./
File:	tests/robot-wrapper.cpp
Date:	2024-08-26 20:29:39

	Exec	Total	Coverage
Lines:	22	22	100.0%
Branches:	75	150	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2017 CNRS
3			//
4			// This file is part of tsid
5			// tsid is free software: you can redistribute it
6			// and/or modify it under the terms of the GNU Lesser General Public
7			// License as published by the Free Software Foundation, either version
8			// 3 of the License, or (at your option) any later version.
9			// tsid is distributed in the hope that it will be
10			// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11			// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12			// General Lesser Public License for more details. You should have
13			// received a copy of the GNU Lesser General Public License along with
14			// tsid If not, see
15			// <http://www.gnu.org/licenses/>.
16			//
17
18			#include <iostream>
19
20			#include <boost/test/unit_test.hpp>
21			#include <boost/utility/binary.hpp>
22
23			#include "tsid/robots/robot-wrapper.hpp"
24			#include <pinocchio/algorithm/joint-configuration.hpp>
25
26			using namespace tsid;
27			using namespace tsid::math;
28			using namespace tsid::robots;
29
30			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
31
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33			using namespace std;
34			using namespace pinocchio;
35
36	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo";
37
38		2	vector<string> package_dirs;
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	package_dirs.push_back(romeo_model_path);
40	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
41
42			RobotWrapper robot(urdfFileName, package_dirs,
43	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	pinocchio::JointModelFreeFlyer(), false);
44
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Model& model = robot.model();
46
47			// Update default config bounds to take into account the Free Flyer
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector lb(model.lowerPositionLimit);
49	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	lb.head<3>().fill(-10.);
50	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	lb.segment<4>(3).fill(-1.);
51
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector ub(model.upperPositionLimit);
53	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ub.head<3>().fill(10.);
54	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ub.segment<4>(3).fill(1.);
55
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector q = pinocchio::randomConfiguration(model, lb, ub);
57	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Vector v = Vector::Ones(robot.nv());
58	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(robot.model());
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	robot.computeAllTerms(data, q, v);
60
61	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 com = robot.com(data);
62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << com << std::endl;
63	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(robot.nq() == 38);
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(robot.nv() == 37);
65		2	}
66
67			BOOST_AUTO_TEST_SUITE_END()
68