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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	tests/constraints.cpp	Lines:	68	68	100.0 %
Date:	2024-05-10 01:36:27	Branches:	404	808	50.0 %


//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#include <iostream>

#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

#include <tsid/math/constraint-bound.hpp>
#include <tsid/math/constraint-equality.hpp>
#include <tsid/math/constraint-inequality.hpp>

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_constraint_bounds) {
  std::cout << "test_constraint_bounds\n";
  using namespace tsid::math;
  using namespace Eigen;
  const unsigned int n = 5;

  VectorXd lb = -1.0 * VectorXd::Ones(n);
  VectorXd ub = VectorXd::Ones(n);
  ConstraintBound bounds("bounds", lb, ub);

  BOOST_CHECK(bounds.isBound());
  BOOST_CHECK(!bounds.isEquality());
  BOOST_CHECK(!bounds.isInequality());

  BOOST_CHECK(bounds.rows() == n);
  BOOST_CHECK(bounds.cols() == n);

  BOOST_CHECK(lb.isApprox(bounds.lowerBound()));
  BOOST_CHECK(ub.isApprox(bounds.upperBound()));

  lb *= 2.0;
  BOOST_CHECK(!lb.isApprox(bounds.lowerBound()));
  bounds.setLowerBound(lb);
  BOOST_CHECK(lb.isApprox(bounds.lowerBound()));

  ub *= 2.0;
  BOOST_CHECK(!ub.isApprox(bounds.upperBound()));
  bounds.setUpperBound(ub);
  BOOST_CHECK(ub.isApprox(bounds.upperBound()));
}

BOOST_AUTO_TEST_CASE(test_constraint_equality) {
  using namespace tsid::math;
  using namespace Eigen;
  using namespace std;

  const unsigned int n = 5;
  const unsigned int m = 2;

  MatrixXd A = MatrixXd::Ones(m, n);
  VectorXd b = VectorXd::Ones(m);
  ConstraintEquality equality("equality", A, b);

  BOOST_CHECK(!equality.isBound());
  BOOST_CHECK(equality.isEquality());
  BOOST_CHECK(!equality.isInequality());

  BOOST_CHECK(equality.rows() == m);
  BOOST_CHECK(equality.cols() == n);

  BOOST_CHECK(A.isApprox(equality.matrix()));
  BOOST_CHECK(b.isApprox(equality.vector()));

  b *= 2.0;
  BOOST_CHECK(!b.isApprox(equality.vector()));
  equality.setVector(b);
  BOOST_CHECK(b.isApprox(equality.vector()));

  A *= 2.0;
  BOOST_CHECK(!A.isApprox(equality.matrix()));
  equality.setMatrix(A);
  BOOST_CHECK(A.isApprox(equality.matrix()));
}

BOOST_AUTO_TEST_CASE(test_constraint_inequality) {
  using namespace tsid::math;
  using namespace Eigen;
  using namespace std;

  const unsigned int n = 5;
  const unsigned int m = 2;

  MatrixXd A = MatrixXd::Ones(m, n);
  VectorXd lb = -1.0 * VectorXd::Ones(m);
  VectorXd ub = VectorXd::Ones(m);
  ConstraintInequality inequality("inequality", A, lb, ub);

  BOOST_CHECK(!inequality.isBound());
  BOOST_CHECK(!inequality.isEquality());
  BOOST_CHECK(inequality.isInequality());

  BOOST_CHECK(inequality.rows() == m);
  BOOST_CHECK(inequality.cols() == n);

  BOOST_CHECK(A.isApprox(inequality.matrix()));
  BOOST_CHECK(lb.isApprox(inequality.lowerBound()));
  BOOST_CHECK(ub.isApprox(inequality.upperBound()));

  lb *= 2.0;
  BOOST_CHECK(!lb.isApprox(inequality.lowerBound()));
  inequality.setLowerBound(lb);
  BOOST_CHECK(lb.isApprox(inequality.lowerBound()));

  A *= 2.0;
  BOOST_CHECK(!A.isApprox(inequality.matrix()));
  inequality.setMatrix(A);
  BOOST_CHECK(A.isApprox(inequality.matrix()));
}

BOOST_AUTO_TEST_SUITE_END()


Generated by: GCOVR (Version 4.2)

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/math/constraint-bound.hpp>
24			#include <tsid/math/constraint-equality.hpp>
25			#include <tsid/math/constraint-inequality.hpp>
26
27			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
28
29	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_constraint_bounds) {
30	✓✗	2	std::cout << "test_constraint_bounds\n";
31			using namespace tsid::math;
32			using namespace Eigen;
33		2	const unsigned int n = 5;
34
35	✓✗✓✗ ✓✗	4	VectorXd lb = -1.0 * VectorXd::Ones(n);
36	✓✗✓✗	4	VectorXd ub = VectorXd::Ones(n);
37	✓✗✓✗ ✓✗✓✗	6	ConstraintBound bounds("bounds", lb, ub);
38
39	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(bounds.isBound());
40	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!bounds.isEquality());
41	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!bounds.isInequality());
42
43	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(bounds.rows() == n);
44	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(bounds.cols() == n);
45
46	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(lb.isApprox(bounds.lowerBound()));
47	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(ub.isApprox(bounds.upperBound()));
48
49	✓✗	2	lb *= 2.0;
50	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!lb.isApprox(bounds.lowerBound()));
51	✓✗✓✗	2	bounds.setLowerBound(lb);
52	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(lb.isApprox(bounds.lowerBound()));
53
54	✓✗	2	ub *= 2.0;
55	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!ub.isApprox(bounds.upperBound()));
56	✓✗✓✗	2	bounds.setUpperBound(ub);
57	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(ub.isApprox(bounds.upperBound()));
58		2	}
59
60	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_constraint_equality) {
61			using namespace tsid::math;
62			using namespace Eigen;
63			using namespace std;
64
65		2	const unsigned int n = 5;
66		2	const unsigned int m = 2;
67
68	✓✗✓✗	4	MatrixXd A = MatrixXd::Ones(m, n);
69	✓✗✓✗	4	VectorXd b = VectorXd::Ones(m);
70	✓✗✓✗ ✓✗✓✗	6	ConstraintEquality equality("equality", A, b);
71
72	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!equality.isBound());
73	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(equality.isEquality());
74	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!equality.isInequality());
75
76	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(equality.rows() == m);
77	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(equality.cols() == n);
78
79	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(A.isApprox(equality.matrix()));
80	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(b.isApprox(equality.vector()));
81
82	✓✗	2	b *= 2.0;
83	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!b.isApprox(equality.vector()));
84	✓✗✓✗	2	equality.setVector(b);
85	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(b.isApprox(equality.vector()));
86
87	✓✗	2	A *= 2.0;
88	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!A.isApprox(equality.matrix()));
89	✓✗✓✗	2	equality.setMatrix(A);
90	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(A.isApprox(equality.matrix()));
91		2	}
92
93	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_constraint_inequality) {
94			using namespace tsid::math;
95			using namespace Eigen;
96			using namespace std;
97
98		2	const unsigned int n = 5;
99		2	const unsigned int m = 2;
100
101	✓✗✓✗	4	MatrixXd A = MatrixXd::Ones(m, n);
102	✓✗✓✗ ✓✗	4	VectorXd lb = -1.0 * VectorXd::Ones(m);
103	✓✗✓✗	4	VectorXd ub = VectorXd::Ones(m);
104	✓✗✓✗ ✓✗✓✗ ✓✗	6	ConstraintInequality inequality("inequality", A, lb, ub);
105
106	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!inequality.isBound());
107	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(!inequality.isEquality());
108	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(inequality.isInequality());
109
110	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(inequality.rows() == m);
111	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(inequality.cols() == n);
112
113	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(A.isApprox(inequality.matrix()));
114	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(lb.isApprox(inequality.lowerBound()));
115	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(ub.isApprox(inequality.upperBound()));
116
117	✓✗	2	lb *= 2.0;
118	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!lb.isApprox(inequality.lowerBound()));
119	✓✗✓✗	2	inequality.setLowerBound(lb);
120	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(lb.isApprox(inequality.lowerBound()));
121
122	✓✗	2	A *= 2.0;
123	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(!A.isApprox(inequality.matrix()));
124	✓✗✓✗	2	inequality.setMatrix(A);
125	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(A.isApprox(inequality.matrix()));
126		2	}
127
128			BOOST_AUTO_TEST_SUITE_END()