INSTINCT Code Coverage Report

Directory:	src/
File:	Navigation/INS/SensorCombiner/BsplineKF/QuadraticBsplines.cpp
Date:	2025-11-25 23:34:18

	Exec	Total	Coverage
Lines:	63	67	94.0%
Functions:	1	1	100.0%
Branches:	105	178	59.0%

  
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      // This file is part of INSTINCT, the INS Toolkit for Integrated
    
      // Navigation Concepts and Training by the Institute of Navigation of
    
      // the University of Stuttgart, Germany.
    
      //
    
      // This Source Code Form is subject to the terms of the Mozilla Public
    
      // License, v. 2.0. If a copy of the MPL was not distributed with this
    
      // file, You can obtain one at https://mozilla.org/MPL/2.0/.
    
      #include "QuadraticBsplines.hpp"
    
      #include <cmath>
    
      #include <array>
    
      #include "util/Logger.hpp"
    
      14964
      std::array<double, 3> NAV::BsplineKF::quadraticBsplines(const double& ti, const double& splineSpacing)
    
      {
    
      14964
          std::array<double, 3> qBsplines{ 0.0, 0.0, 0.0 }; // Stacked B-spline, which consists of three single B-splines
    
      14964
          std::array<double, 4> knots{};                    // Knot vector for a single quadratic B-spline
    
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      59856
          for (size_t splineIterator = 0; splineIterator < 3; splineIterator++)
    
          {
    
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      44892
              if (ti >= 2.0 * splineSpacing)
    
              {
    
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      43404
                  knots.at(3) = ti - std::fmod(ti, splineSpacing) + splineSpacing * static_cast<double>(splineIterator + 1); // t_k+1
    
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      43404
                  knots.at(2) = knots.at(3) - splineSpacing;                                                                 // t_k
    
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      43404
                  knots.at(1) = knots.at(3) - 2.0 * splineSpacing;                                                           // t_k-1
    
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      43404
                  knots.at(0) = knots.at(3) - 3.0 * splineSpacing;                                                           // t_k-2
    
              }
    
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      1488
              else if ((ti >= splineSpacing) && (ti < 2.0 * splineSpacing))
    
              {
    
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      744
                  switch (splineIterator)
    
                  {
    
      248
                  case 0:
    
      248
                      knots = { 0.0, 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing };
    
      248
                      break;
    
      248
                  case 1:
    
      248
                      knots = { 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing };
    
      248
                      break;
    
      248
                  case 2:
    
      248
                      knots = { 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing, 4.0 * splineSpacing };
    
      248
                      break;
    
      ✗
                  default:
    
      ✗
                      break;
    
                  }
    
              }
    
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      744
              else if (ti < 1.0 * splineSpacing)
    
              {
    
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      744
                  switch (splineIterator)
    
                  {
    
      248
                  case 0:
    
      248
                      knots = { 0.0, 0.0, 0.0, 1.0 * splineSpacing };
    
      248
                      break;
    
      248
                  case 1:
    
      248
                      knots = { 0.0, 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing };
    
      248
                      break;
    
      248
                  case 2:
    
      248
                      knots = { 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing };
    
      248
                      break;
    
      ✗
                  default:
    
      ✗
                      break;
    
                  }
    
              }
    
              LOG_DATA("ti = {}, B-spline '{}', knots = {}, {}, {}, {}", ti, splineIterator, knots.at(0), knots.at(1), knots.at(2), knots.at(3));
    
              // B-spline of degree 0
    
      44892
              std::array<double, 3> N0{};
    
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      44892
              if ((knots.at(0) <= ti) && (ti < knots.at(1)))
    
              {
    
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      14964
                  N0.at(0) = 1.0;
    
              }
    
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      29928
              else if ((knots.at(1) <= ti) && (ti < knots.at(2)))
    
              {
    
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      14964
                  N0.at(1) = 1.0;
    
              }
    
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      14964
              else if ((knots.at(2) <= ti) && (ti < knots.at(3)))
    
              {
    
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      14964
                  N0.at(2) = 1.0;
    
              }
    
              // B-spline of degree 1
    
      44892
              std::array<double, 2> N1{};
    
      44892
              double N11_factor1{};
    
      44892
              double N11_factor2{};
    
      44892
              double N12_factor1{};
    
      44892
              double N12_factor2{};
    
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      44892
              if ((knots.at(0) <= ti) && (ti < knots.at(2)))
    
              {
    
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      29928
                  if (knots.at(1) - knots.at(0) != 0.0)
    
                  {
    
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      29680
                      N11_factor1 = (ti - knots.at(0)) / (knots.at(1) - knots.at(0));
    
                  }
    
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                  if (knots.at(2) - knots.at(1) != 0.0)
    
                  {
    
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      29928
                      N11_factor2 = (knots.at(2) - ti) / (knots.at(2) - knots.at(1));
    
                  }
    
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      29928
                  N1.at(0) = N11_factor1 * N0.at(0) + N11_factor2 * N0.at(1);
    
              }
    
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      44892
              if ((knots.at(1) <= ti) && (ti < knots.at(3)))
    
              {
    
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      29928
                  if (knots.at(2) - knots.at(1) != 0.0)
    
                  {
    
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      29680
                      N12_factor1 = (ti - knots.at(1)) / (knots.at(2) - knots.at(1));
    
                  }
    
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      29928
                  if (knots.at(3) - knots.at(2) != 0.0)
    
                  {
    
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      29928
                      N12_factor2 = (knots.at(3) - ti) / (knots.at(3) - knots.at(2));
    
                  }
    
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      29928
                  N1.at(1) = N12_factor1 * N0.at(1) + N12_factor2 * N0.at(2);
    
              }
    
              // B-spline of degree 2 (i.e. quadratic)
    
      44892
              double N2_factor1{};
    
      44892
              double N2_factor2{};
    
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      44892
              if (knots.at(2) - knots.at(0) != 0.0)
    
              {
    
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      44644
                  N2_factor1 = (ti - knots.at(0)) / (knots.at(2) - knots.at(0));
    
              }
    
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      44892
              if (knots.at(3) - knots.at(1) != 0.0)
    
              {
    
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      44892
                  N2_factor2 = (knots.at(3) - ti) / (knots.at(3) - knots.at(1));
    
              }
    
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      44892
              qBsplines.at(splineIterator) = N2_factor1 * N1.at(0) + N2_factor2 * N1.at(1);
    
          }
    
      29928
          return qBsplines;
    
      }

Line	Branch	Exec	Source
1			// This file is part of INSTINCT, the INS Toolkit for Integrated
2			// Navigation Concepts and Training by the Institute of Navigation of
3			// the University of Stuttgart, Germany.
4			//
5			// This Source Code Form is subject to the terms of the Mozilla Public
6			// License, v. 2.0. If a copy of the MPL was not distributed with this
7			// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9			#include "QuadraticBsplines.hpp"
10
11			#include <cmath>
12			#include <array>
13
14			#include "util/Logger.hpp"
15
16		14964	std::array<double, 3> NAV::BsplineKF::quadraticBsplines(const double& ti, const double& splineSpacing)
17			{
18		14964	std::array<double, 3> qBsplines{ 0.0, 0.0, 0.0 }; // Stacked B-spline, which consists of three single B-splines
19		14964	std::array<double, 4> knots{}; // Knot vector for a single quadratic B-spline
20
21	2/2 ✓ Branch 0 taken 44892 times. ✓ Branch 1 taken 14964 times.	59856	for (size_t splineIterator = 0; splineIterator < 3; splineIterator++)
22			{
23	2/2 ✓ Branch 0 taken 43404 times. ✓ Branch 1 taken 1488 times.	44892	if (ti >= 2.0 * splineSpacing)
24			{
25	1/2 ✓ Branch 1 taken 43404 times. ✗ Branch 2 not taken.	43404	knots.at(3) = ti - std::fmod(ti, splineSpacing) + splineSpacing * static_cast<double>(splineIterator + 1); // t_k+1
26	2/4 ✓ Branch 1 taken 43404 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43404 times. ✗ Branch 5 not taken.	43404	knots.at(2) = knots.at(3) - splineSpacing; // t_k
27	2/4 ✓ Branch 1 taken 43404 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43404 times. ✗ Branch 5 not taken.	43404	knots.at(1) = knots.at(3) - 2.0 * splineSpacing; // t_k-1
28	2/4 ✓ Branch 1 taken 43404 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43404 times. ✗ Branch 5 not taken.	43404	knots.at(0) = knots.at(3) - 3.0 * splineSpacing; // t_k-2
29			}
30	3/4 ✓ Branch 0 taken 744 times. ✓ Branch 1 taken 744 times. ✓ Branch 2 taken 744 times. ✗ Branch 3 not taken.	1488	else if ((ti >= splineSpacing) && (ti < 2.0 * splineSpacing))
31			{
32	3/4 ✓ Branch 0 taken 248 times. ✓ Branch 1 taken 248 times. ✓ Branch 2 taken 248 times. ✗ Branch 3 not taken.	744	switch (splineIterator)
33			{
34		248	case 0:
35		248	knots = { 0.0, 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing };
36		248	break;
37		248	case 1:
38		248	knots = { 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing };
39		248	break;
40		248	case 2:
41		248	knots = { 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing, 4.0 * splineSpacing };
42		248	break;
43
44		✗	default:
45		✗	break;
46			}
47			}
48	1/2 ✓ Branch 0 taken 744 times. ✗ Branch 1 not taken.	744	else if (ti < 1.0 * splineSpacing)
49			{
50	3/4 ✓ Branch 0 taken 248 times. ✓ Branch 1 taken 248 times. ✓ Branch 2 taken 248 times. ✗ Branch 3 not taken.	744	switch (splineIterator)
51			{
52		248	case 0:
53		248	knots = { 0.0, 0.0, 0.0, 1.0 * splineSpacing };
54		248	break;
55		248	case 1:
56		248	knots = { 0.0, 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing };
57		248	break;
58		248	case 2:
59		248	knots = { 0.0, 1.0 * splineSpacing, 2.0 * splineSpacing, 3.0 * splineSpacing };
60		248	break;
61
62		✗	default:
63		✗	break;
64			}
65			}
66
67			LOG_DATA("ti = {}, B-spline '{}', knots = {}, {}, {}, {}", ti, splineIterator, knots.at(0), knots.at(1), knots.at(2), knots.at(3));
68
69			// B-spline of degree 0
70		44892	std::array<double, 3> N0{};
71	7/10 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 44892 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 44892 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 14964 times. ✓ Branch 9 taken 29928 times. ✓ Branch 10 taken 14964 times. ✓ Branch 11 taken 29928 times.	44892	if ((knots.at(0) <= ti) && (ti < knots.at(1)))
72			{
73	1/2 ✓ Branch 1 taken 14964 times. ✗ Branch 2 not taken.	14964	N0.at(0) = 1.0;
74			}
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76			{
77	1/2 ✓ Branch 1 taken 14964 times. ✗ Branch 2 not taken.	14964	N0.at(1) = 1.0;
78			}
79	5/10 ✓ Branch 1 taken 14964 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 14964 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 14964 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 14964 times. ✗ Branch 9 not taken. ✓ Branch 10 taken 14964 times. ✗ Branch 11 not taken.	14964	else if ((knots.at(2) <= ti) && (ti < knots.at(3)))
80			{
81	1/2 ✓ Branch 1 taken 14964 times. ✗ Branch 2 not taken.	14964	N0.at(2) = 1.0;
82			}
83
84			// B-spline of degree 1
85		44892	std::array<double, 2> N1{};
86		44892	double N11_factor1{};
87		44892	double N11_factor2{};
88		44892	double N12_factor1{};
89		44892	double N12_factor2{};
90
91	7/10 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 44892 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 44892 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 29928 times. ✓ Branch 9 taken 14964 times. ✓ Branch 10 taken 29928 times. ✓ Branch 11 taken 14964 times.	44892	if ((knots.at(0) <= ti) && (ti < knots.at(2)))
92			{
93	4/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 29680 times. ✓ Branch 7 taken 248 times.	29928	if (knots.at(1) - knots.at(0) != 0.0)
94			{
95	3/6 ✓ Branch 1 taken 29680 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29680 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29680 times. ✗ Branch 8 not taken.	29680	N11_factor1 = (ti - knots.at(0)) / (knots.at(1) - knots.at(0));
96			}
97	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 29928 times. ✗ Branch 7 not taken.	29928	if (knots.at(2) - knots.at(1) != 0.0)
98			{
99	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29928 times. ✗ Branch 8 not taken.	29928	N11_factor2 = (knots.at(2) - ti) / (knots.at(2) - knots.at(1));
100			}
101	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29928 times. ✗ Branch 8 not taken.	29928	N1.at(0) = N11_factor1 * N0.at(0) + N11_factor2 * N0.at(1);
102			}
103	7/10 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 29928 times. ✓ Branch 4 taken 14964 times. ✓ Branch 6 taken 29928 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 29928 times. ✗ Branch 9 not taken. ✓ Branch 10 taken 29928 times. ✓ Branch 11 taken 14964 times.	44892	if ((knots.at(1) <= ti) && (ti < knots.at(3)))
104			{
105	4/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 29680 times. ✓ Branch 7 taken 248 times.	29928	if (knots.at(2) - knots.at(1) != 0.0)
106			{
107	3/6 ✓ Branch 1 taken 29680 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29680 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29680 times. ✗ Branch 8 not taken.	29680	N12_factor1 = (ti - knots.at(1)) / (knots.at(2) - knots.at(1));
108			}
109	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 29928 times. ✗ Branch 7 not taken.	29928	if (knots.at(3) - knots.at(2) != 0.0)
110			{
111	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29928 times. ✗ Branch 8 not taken.	29928	N12_factor2 = (knots.at(3) - ti) / (knots.at(3) - knots.at(2));
112			}
113	3/6 ✓ Branch 1 taken 29928 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 29928 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 29928 times. ✗ Branch 8 not taken.	29928	N1.at(1) = N12_factor1 * N0.at(1) + N12_factor2 * N0.at(2);
114			}
115
116			// B-spline of degree 2 (i.e. quadratic)
117		44892	double N2_factor1{};
118		44892	double N2_factor2{};
119
120	4/6 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 44892 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 44644 times. ✓ Branch 7 taken 248 times.	44892	if (knots.at(2) - knots.at(0) != 0.0)
121			{
122	3/6 ✓ Branch 1 taken 44644 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 44644 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 44644 times. ✗ Branch 8 not taken.	44644	N2_factor1 = (ti - knots.at(0)) / (knots.at(2) - knots.at(0));
123			}
124	3/6 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 44892 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 44892 times. ✗ Branch 7 not taken.	44892	if (knots.at(3) - knots.at(1) != 0.0)
125			{
126	3/6 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 44892 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 44892 times. ✗ Branch 8 not taken.	44892	N2_factor2 = (knots.at(3) - ti) / (knots.at(3) - knots.at(1));
127			}
128	3/6 ✓ Branch 1 taken 44892 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 44892 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 44892 times. ✗ Branch 8 not taken.	44892	qBsplines.at(splineIterator) = N2_factor1 * N1.at(0) + N2_factor2 * N1.at(1);
129			}
130
131		29928	return qBsplines;
132			}
133