GCC Code Coverage Report

Directory:	./
File:	tests/trajectories.cpp
Date:	2025-05-10 01:12:46

	Exec	Total	Coverage
Lines:	29	29	100.0%
Branches:	175	350	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/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
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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	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M_ref = SE3::Identity();
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd M_vec(12);
39	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3ToVector(M_ref, M_vec);
40	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd zero = VectorXd::Zero(6);
41
42	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	TrajectoryBase *traj = new TrajectorySE3Constant("traj_se3", M_ref);
43	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(traj->has_trajectory_ended());
44	8/16 ✓ 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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(traj->computeNext().getValue().isApprox(M_vec));
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46
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TrajectorySample sample(12, 6);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj->getLastSample(sample);
49	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(sample.getValue().isApprox(M_vec));
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52		2	}
53
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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	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q_ref = VectorXd::Ones(n);
62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd zero = VectorXd::Zero(n);
63	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_eucl", q_ref);
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65	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(traj->has_trajectory_ended());
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69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TrajectorySample sample(n);
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj->getLastSample(sample);
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74		2	}
75
76			BOOST_AUTO_TEST_SUITE_END()
77