Improve tesseract_environment code coverage (#655)

* Improve tesseract_environment code coverage * Improve tesseract_common code coverage * Improve tesseract_geometry code coverage * Fix bug in tesseract_environment with populating contact managers * Fix issue in JointGroup and StateSolver getStaticLinkNames * Fix clang-tidy error * Fix issue with findTCPOffset and improve code coverage * Improve tesseract_environment code coverage * Add checkTrajectory unit tests * Improve checkTrajectory code coverage
tesseract-robotics · Oct 29, 2021 · a8a19f7 · a8a19f7
1 parent c487976
commit a8a19f7
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Showing 19 changed files with 1,562 additions and 194 deletions.
diff --git a/tesseract_common/include/tesseract_common/types.h b/tesseract_common/include/tesseract_common/types.h
@@ -85,6 +85,7 @@ struct PairHash
 LinkNamesPair makeOrderedLinkPair(const std::string& link_name1, const std::string& link_name2);
 
 /** @brief The Plugin Information struct */
+// NOLINTNEXTLINE
 struct PluginInfo
 {
   /** @brief The plugin class name */

diff --git a/tesseract_common/include/tesseract_common/utils.h b/tesseract_common/include/tesseract_common/utils.h
@@ -137,8 +137,8 @@ Eigen::Vector3d calcRotationalError2(const Eigen::Ref<const Eigen::Matrix3d>& R)
 Eigen::VectorXd calcTransformError(const Eigen::Isometry3d& t1, const Eigen::Isometry3d& t2);
 
 /**
- * @brief This computes a random color with alpha set to 1
- * @return A random color
+ * @brief This computes a random color RGBA [0, 1] with alpha set to 1
+ * @return A random RGBA color
  */
 Eigen::Vector4d computeRandomColor();
 

diff --git a/tesseract_common/include/tesseract_common/yaml_utils.h b/tesseract_common/include/tesseract_common/yaml_utils.h
@@ -45,8 +45,10 @@ struct convert<tesseract_common::PluginInfo>
   {
     Node node;
     node["class"] = rhs.class_name;
+
     if (!rhs.config.IsNull())
       node["config"] = rhs.config;
+
     return node;
   }
 
@@ -58,7 +60,7 @@ struct convert<tesseract_common::PluginInfo>
 
     rhs.class_name = node["class"].as<std::string>();
 
-    if (node["config"])
+    if (node["config"] != nullptr)
       rhs.config = node["config"];
 
     return true;
@@ -75,17 +77,16 @@ struct convert<tesseract_common::PluginInfoContainer>
       node["default"] = rhs.default_plugin;
 
     node["plugins"] = rhs.plugins;
-    ;
 
     return node;
   }
 
   static bool decode(const Node& node, tesseract_common::PluginInfoContainer& rhs)
   {
-    if (node["default"])
+    if (node["default"] != nullptr)
       rhs.default_plugin = node["default"].as<std::string>();
 
-    if (!node["plugins"])
+    if (node["plugins"] == nullptr)
       throw std::runtime_error("PluginInfoContainer, missing 'plugins' entry!");
 
     const Node& plugins = node["plugins"];
@@ -98,7 +99,7 @@ struct convert<tesseract_common::PluginInfoContainer>
     }
     catch (const std::exception& e)
     {
-      throw std::runtime_error(std::string("ContactManagersPluginFactory: Constructor failed to cast 'plugins' to "
+      throw std::runtime_error(std::string("PluginInfoContainer: Constructor failed to cast 'plugins' to "
                                            "tesseract_common::PluginInfoMap! Details: ") +
                                e.what());
     }
@@ -165,7 +166,7 @@ struct convert<Eigen::Isometry3d>
     out.translation().z() = p["z"].as<double>();
 
     const YAML::Node& o = node["orientation"];
-    if (o["x"] && o["y"] && o["z"] && o["w"])
+    if (o["x"] && o["y"] && o["z"] && o["w"])  // NOLINT
     {
       Eigen::Quaterniond quat;
       quat.x() = o["x"].as<double>();
@@ -175,11 +176,11 @@ struct convert<Eigen::Isometry3d>
 
       out.linear() = quat.toRotationMatrix();
     }
-    else if (o["r"] && o["p"] && o["y"])
+    else if (o["r"] && o["p"] && o["y"])  // NOLINT
     {
-      double r = o["r"].as<double>();
-      double p = o["p"].as<double>();
-      double y = o["y"].as<double>();
+      auto r = o["r"].as<double>();
+      auto p = o["p"].as<double>();
+      auto y = o["y"].as<double>();
 
       Eigen::AngleAxisd rollAngle(r, Eigen::Vector3d::UnitX());
       Eigen::AngleAxisd pitchAngle(p, Eigen::Vector3d::UnitY());
@@ -216,7 +217,7 @@ struct convert<Eigen::VectorXd>
     if (!node.IsSequence())
       return false;
 
-    rhs.resize(node.size());
+    rhs.resize(static_cast<Eigen::Index>(node.size()));
     for (long i = 0; i < node.size(); ++i)
       rhs(i) = node[i].as<double>();
 

diff --git a/tesseract_common/src/utils.cpp b/tesseract_common/src/utils.cpp
@@ -60,6 +60,8 @@ std::enable_if_t<std::is_polymorphic<E>::value> my_rethrow_if_nested(const E& e)
     p->rethrow_nested();
 }
 
+// LCOV_EXCL_START
+// These are tested in both tesseract_kinematics and tesseract_state_solver
 void twistChangeRefPoint(Eigen::Ref<Eigen::VectorXd> twist, const Eigen::Ref<const Eigen::Vector3d>& ref_point)
 {
   twist(0) += twist(4) * ref_point(2) - twist(5) * ref_point(1);
@@ -86,6 +88,7 @@ void jacobianChangeRefPoint(Eigen::Ref<Eigen::MatrixXd> jacobian, const Eigen::R
   for (int i = 0; i < jacobian.cols(); i++)
     twistChangeRefPoint(jacobian.col(i), ref_point);
 }
+// LCOV_EXCL_STOP
 
 Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
 {