GCC Code Coverage Report

Directory:	./
File:	test/accelerated_gjk.cpp
Date:	2025-04-13 14:25:19

	Exec	Total	Coverage
Lines:	163	163	100.0%
Branches:	643	1284	50.1%

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
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4			* Copyright (c) 2022, INRIA
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21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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33			*/
34
35			/** \author Louis Montaut */
36
37			#define BOOST_TEST_MODULE COAL_NESTEROV_GJK
38			#include <boost/test/included/unit_test.hpp>
39
40			#include <Eigen/Geometry>
41			#include "coal/narrowphase/narrowphase.h"
42			#include "coal/shape/geometric_shapes.h"
43			#include "coal/internal/tools.h"
44
45			#include "utility.h"
46
47			using coal::Box;
48			using coal::Capsule;
49			using coal::constructPolytopeFromEllipsoid;
50			using coal::Convex;
51			using coal::Ellipsoid;
52			using coal::GJKSolver;
53			using coal::GJKVariant;
54			using coal::Scalar;
55			using coal::ShapeBase;
56			using coal::SolverScalar;
57			using coal::support_func_guess_t;
58			using coal::Transform3s;
59			using coal::Triangle;
60			using coal::Vec3ps;
61			using coal::Vec3s;
62			using coal::details::GJK;
63			using coal::details::MinkowskiDiff;
64			using coal::details::SupportOptions;
65			using std::size_t;
66
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68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GJKSolver solver;
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GJK gjk(128, Scalar(1e-6));
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MinkowskiDiff shape;
71
72			// Checking defaults
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75	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(shape.normalize_support_direction == false);
76
77			// Checking set
78		2	solver.gjk.gjk_variant = GJKVariant::NesterovAcceleration;
79		2	gjk.gjk_variant = GJKVariant::NesterovAcceleration;
80
81	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(solver.gjk.gjk_variant == GJKVariant::NesterovAcceleration);
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83
84		2	solver.gjk.gjk_variant = GJKVariant::PolyakAcceleration;
85		2	gjk.gjk_variant = GJKVariant::PolyakAcceleration;
86
87	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(solver.gjk.gjk_variant == GJKVariant::PolyakAcceleration);
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89		2	}
90
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92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid = Ellipsoid(1, 1, 1);
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box = Box(1, 1, 1);
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx;
95
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MinkowskiDiff mink_diff1;
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mink_diff1.set<SupportOptions::NoSweptSphere>(&ellipsoid, &ellipsoid);
98	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(mink_diff1.normalize_support_direction == false);
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MinkowskiDiff mink_diff2;
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mink_diff2.set<SupportOptions::NoSweptSphere>(&ellipsoid, &box);
102	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(mink_diff2.normalize_support_direction == false);
103
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MinkowskiDiff mink_diff3;
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mink_diff3.set<SupportOptions::NoSweptSphere>(&cvx, &cvx);
106	6/12 ✓ 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 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(mink_diff3.normalize_support_direction == true);
107		2	}
108
109		31	void test_accelerated_gjk(const ShapeBase& shape0, const ShapeBase& shape1) {
110			// Solvers
111		31	unsigned int max_iterations = 128;
112		31	Scalar tolerance = Scalar(1e-6);
113	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	GJK gjk(max_iterations, tolerance);
114	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	GJK gjk_nesterov(max_iterations, tolerance);
115		31	gjk_nesterov.gjk_variant = GJKVariant::NesterovAcceleration;
116	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	GJK gjk_polyak(max_iterations, tolerance);
117		31	gjk_polyak.gjk_variant = GJKVariant::PolyakAcceleration;
118
119			// Minkowski difference
120	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	MinkowskiDiff mink_diff;
121
122			// Generate random transforms
123		31	size_t n = 1000;
124		31	Scalar extents[] = {-3., -3., 0, 3., 3., 3.};
125		31	std::vector<Transform3s> transforms;
126	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	generateRandomTransforms(extents, transforms, n);
127	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	Transform3s identity = Transform3s::Identity();
128
129			// Same init for both solvers
130	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	Vec3s init_guess = Vec3s(1, 0, 0);
131	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	support_func_guess_t init_support_guess;
132	1/2 ✓ Branch 1 taken 31 times. ✗ Branch 2 not taken.	31	init_support_guess.setZero();
133
134	2/2 ✓ Branch 0 taken 31000 times. ✓ Branch 1 taken 31 times.	31031	for (size_t i = 0; i < n; ++i) {
135			// No need to take into account swept-sphere radius in supports computation
136			// when using GJK/EPA; after they have converged, these algos will correctly
137			// handle the swept-sphere radius of the shapes.
138	1/2 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken.	31000	mink_diff.set<SupportOptions::NoSweptSphere>(&shape0, &shape1, identity,
139		31000	transforms[i]);
140
141			// Evaluate both solvers twice, make sure they give the same solution
142		62000	GJK::Status res_gjk_1 = gjk.evaluate(
143	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
144	1/2 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken.	31000	Vec3ps ray_gjk = gjk.ray;
145		31000	GJK::Status res_gjk_2 = gjk.evaluate(
146	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
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149
150			// --------------
151			// -- Nesterov --
152			// --------------
153		62000	GJK::Status res_nesterov_gjk_1 = gjk_nesterov.evaluate(
154	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
155	1/2 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken.	31000	Vec3ps ray_nesterov = gjk_nesterov.ray;
156		31000	GJK::Status res_nesterov_gjk_2 = gjk_nesterov.evaluate(
157	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
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160
161			// Make sure GJK and Nesterov accelerated GJK find the same distance between
162			// the shapes
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165			SolverScalar(1e-4));
166
167			// Make sure GJK and Nesterov accelerated GJK converges in a reasonable
168			// amount of iterations
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171
172			// ------------
173			// -- Polyak --
174			// ------------
175		62000	GJK::Status res_polyak_gjk_1 = gjk_polyak.evaluate(
176	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
177	1/2 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken.	31000	Vec3ps ray_polyak = gjk_polyak.ray;
178		31000	GJK::Status res_polyak_gjk_2 = gjk_polyak.evaluate(
179	2/4 ✓ Branch 1 taken 31000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 31000 times. ✗ Branch 5 not taken.	31000	mink_diff, init_guess.cast<SolverScalar>(), init_support_guess);
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182
183			// Make sure GJK and Polyak accelerated GJK find the same distance between
184			// the shapes
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187			SolverScalar(1e-4));
188
189			// Make sure GJK and Polyak accelerated GJK converges in a reasonable
190			// amount of iterations
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193			}
194		31	}
195
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197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.3), Scalar(0.4), Scalar(0.5));
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
199
200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, ellipsoid1);
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, ellipsoid1);
202		2	}
203
204	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(ellipsoid_capsule) {
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule0 = Capsule(Scalar(0.1), Scalar(0.3));
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule1 = Capsule(Scalar(1.1), Scalar(1.3));
209
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, capsule0);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, capsule1);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, capsule0);
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, capsule1);
214		2	}
215
216	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(ellipsoid_box) {
217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box0 = Box(Scalar(0.1), Scalar(0.2), Scalar(0.3));
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box1 = Box(Scalar(1.1), Scalar(1.2), Scalar(1.3));
221
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, box0);
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, box1);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, box0);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, box1);
226		2	}
227
228	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(ellipsoid_mesh) {
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
233
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, cvx0);
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid0, cvx1);
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, cvx0);
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(ellipsoid1, cvx1);
238		2	}
239
240	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(capsule_mesh) {
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule0 = Capsule(Scalar(0.1), Scalar(0.3));
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule1 = Capsule(Scalar(1.1), Scalar(1.3));
247
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule0, cvx0);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule0, cvx1);
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule1, cvx0);
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule1, cvx1);
252		2	}
253
254	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(capsule_capsule) {
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule0 = Capsule(Scalar(0.1), Scalar(0.3));
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Capsule capsule1 = Capsule(Scalar(1.1), Scalar(1.3));
257
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule0, capsule0);
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule1, capsule1);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(capsule0, capsule1);
261		2	}
262
263	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(box_box) {
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box0 = Box(Scalar(0.1), Scalar(0.2), Scalar(0.3));
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box1 = Box(Scalar(1.1), Scalar(1.2), Scalar(1.3));
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box0, box0);
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box0, box1);
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box1, box1);
269		2	}
270
271	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(box_mesh) {
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box0 = Box(Scalar(0.1), Scalar(0.2), Scalar(0.3));
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Box box1 = Box(Scalar(1.1), Scalar(1.2), Scalar(1.3));
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
278
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box0, cvx0);
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box0, cvx1);
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box1, cvx0);
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(box1, cvx1);
283		2	}
284
285	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(mesh_mesh) {
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid0 = Ellipsoid(Scalar(0.5), Scalar(0.4), Scalar(0.3));
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ellipsoid ellipsoid1 = Ellipsoid(Scalar(1.5), Scalar(1.4), Scalar(1.3));
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
290
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(cvx0, cvx0);
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(cvx0, cvx1);
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_accelerated_gjk(cvx1, cvx1);
294		2	}
295