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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	tests/trajectories.cpp	Lines:	29	29	100.0 %
Date:	2024-02-02 08:47:34	Branches:	175	350	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/utils.hpp>
#include <tsid/trajectories/trajectory-se3.hpp>
#include <tsid/trajectories/trajectory-euclidian.hpp>

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_trajectory_se3) {
  using namespace tsid;
  using namespace trajectories;
  using namespace math;
  using namespace std;
  using namespace Eigen;
  using namespace pinocchio;

  SE3 M_ref = SE3::Identity();
  VectorXd M_vec(12);
  SE3ToVector(M_ref, M_vec);
  VectorXd zero = VectorXd::Zero(6);

  TrajectoryBase *traj = new TrajectorySE3Constant("traj_se3", M_ref);
  BOOST_CHECK(traj->has_trajectory_ended());
  BOOST_CHECK(traj->computeNext().getValue().isApprox(M_vec));
  BOOST_CHECK(traj->operator()(0.0).getValue().isApprox(M_vec));

  TrajectorySample sample(12, 6);
  traj->getLastSample(sample);
  BOOST_CHECK(sample.getValue().isApprox(M_vec));
  BOOST_CHECK(sample.getDerivative().isApprox(zero));
  BOOST_CHECK(sample.getSecondDerivative().isApprox(zero));
}

BOOST_AUTO_TEST_CASE(test_trajectory_euclidian) {
  using namespace tsid;
  using namespace trajectories;
  using namespace std;
  using namespace Eigen;

  const unsigned int n = 5;
  VectorXd q_ref = VectorXd::Ones(n);
  VectorXd zero = VectorXd::Zero(n);
  TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_eucl", q_ref);

  BOOST_CHECK(traj->has_trajectory_ended());
  BOOST_CHECK(traj->computeNext().getValue().isApprox(q_ref));
  BOOST_CHECK(traj->operator()(0.0).getValue().isApprox(q_ref));

  TrajectorySample sample(n);
  traj->getLastSample(sample);
  BOOST_CHECK(sample.getValue().isApprox(q_ref));
  BOOST_CHECK(sample.getDerivative().isApprox(zero));
  BOOST_CHECK(sample.getSecondDerivative().isApprox(zero));
}

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/utils.hpp>
24			#include <tsid/trajectories/trajectory-se3.hpp>
25			#include <tsid/trajectories/trajectory-euclidian.hpp>
26
27			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
28
29	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_trajectory_se3) {
30			using namespace tsid;
31			using namespace trajectories;
32			using namespace math;
33			using namespace std;
34			using namespace Eigen;
35			using namespace pinocchio;
36
37	✓✗	2	SE3 M_ref = SE3::Identity();
38	✓✗	4	VectorXd M_vec(12);
39	✓✗✓✗	2	SE3ToVector(M_ref, M_vec);
40	✓✗✓✗	4	VectorXd zero = VectorXd::Zero(6);
41
42	✓✗✓✗ ✓✗	2	TrajectoryBase *traj = new TrajectorySE3Constant("traj_se3", M_ref);
43	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(traj->has_trajectory_ended());
44	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(traj->computeNext().getValue().isApprox(M_vec));
45	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(traj->operator()(0.0).getValue().isApprox(M_vec));
46
47	✓✗	4	TrajectorySample sample(12, 6);
48	✓✗	2	traj->getLastSample(sample);
49	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getValue().isApprox(M_vec));
50	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getDerivative().isApprox(zero));
51	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getSecondDerivative().isApprox(zero));
52		2	}
53
54	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_trajectory_euclidian) {
55			using namespace tsid;
56			using namespace trajectories;
57			using namespace std;
58			using namespace Eigen;
59
60		2	const unsigned int n = 5;
61	✓✗✓✗	4	VectorXd q_ref = VectorXd::Ones(n);
62	✓✗✓✗	4	VectorXd zero = VectorXd::Zero(n);
63	✓✗✓✗ ✓✗✓✗	2	TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_eucl", q_ref);
64
65	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(traj->has_trajectory_ended());
66	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(traj->computeNext().getValue().isApprox(q_ref));
67	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(traj->operator()(0.0).getValue().isApprox(q_ref));
68
69	✓✗	4	TrajectorySample sample(n);
70	✓✗	2	traj->getLastSample(sample);
71	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getValue().isApprox(q_ref));
72	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getDerivative().isApprox(zero));
73	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(sample.getSecondDerivative().isApprox(zero));
74		2	}
75
76			BOOST_AUTO_TEST_SUITE_END()