GCC Code Coverage Report

Directory:	./
File:	tests/solver-by-substitution.cc
Date:	2025-05-05 12:19:30

	Exec	Total	Coverage
Lines:	694	696	99.7%
Branches:	2255	4536	49.7%

Line	Branch	Exec	Source
1			// Copyright (c) 2017, Joseph Mirabel
2			// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3			//
4
5			// Redistribution and use in source and binary forms, with or without
6			// modification, are permitted provided that the following conditions are
7			// met:
8			//
9			// 1. Redistributions of source code must retain the above copyright
10			// notice, this list of conditions and the following disclaimer.
11			//
12			// 2. Redistributions in binary form must reproduce the above copyright
13			// notice, this list of conditions and the following disclaimer in the
14			// documentation and/or other materials provided with the distribution.
15			//
16			// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17			// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18			// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19			// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20			// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21			// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22			// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23			// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24			// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25			// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26			// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27			// DAMAGE.
28
29			#define BOOST_TEST_MODULE SOLVER_BY_SUBSTITUTION
30			#include <../tests/util.hh>
31			#include <Eigen/Geometry>
32			#include <boost/test/unit_test.hpp>
33			#include <hpp/constraints/affine-function.hh>
34			#include <hpp/constraints/explicit/relative-pose.hh>
35			#include <hpp/constraints/generic-transformation.hh>
36			#include <hpp/constraints/solver/by-substitution.hh>
37			#include <hpp/pinocchio/configuration.hh>
38			#include <hpp/pinocchio/device.hh>
39			#include <hpp/pinocchio/joint.hh>
40			#include <hpp/pinocchio/liegroup-element.hh>
41			#include <hpp/pinocchio/serialization.hh>
42			#include <hpp/pinocchio/simple-device.hh>
43			#include <pinocchio/algorithm/joint-configuration.hpp>
44			#include <sstream>
45
46			using hpp::constraints::AffineFunction;
47			using hpp::constraints::AffineFunctionPtr_t;
48			using hpp::constraints::ComparisonTypes_t;
49			using hpp::constraints::Configuration_t;
50			using hpp::constraints::ConstantFunction;
51			using hpp::constraints::ConstantFunctionPtr_t;
52			using hpp::constraints::DevicePtr_t;
53			using hpp::constraints::DifferentiableFunction;
54			using hpp::constraints::DifferentiableFunctionPtr_t;
55			using hpp::constraints::Equality;
56			using hpp::constraints::EqualToZero;
57			using hpp::constraints::Explicit;
58			using hpp::constraints::ExplicitConstraintSet;
59			using hpp::constraints::ExplicitPtr_t;
60			using hpp::constraints::Implicit;
61			using hpp::constraints::ImplicitPtr_t;
62			using hpp::constraints::JointPtr_t;
63			using hpp::constraints::LiegroupElement;
64			using hpp::constraints::LiegroupElementRef;
65			using hpp::constraints::LiegroupSpace;
66			using hpp::constraints::LockedJoint;
67			using hpp::constraints::matrix3_t;
68			using hpp::constraints::matrix_t;
69			using hpp::constraints::matrixOut_t;
70			using hpp::constraints::Orientation;
71			using hpp::constraints::RelativeTransformation;
72			using hpp::constraints::RelativeTransformationPtr_t;
73			using hpp::constraints::segment_t;
74			using hpp::constraints::segments_t;
75			using hpp::constraints::size_type;
76			using hpp::constraints::Transform3s;
77			using hpp::constraints::Transformation;
78			using hpp::constraints::value_type;
79			using hpp::constraints::vector3_t;
80			using hpp::constraints::vector_t;
81			using hpp::constraints::vectorIn_t;
82			using hpp::constraints::vectorOut_t;
83			using hpp::constraints::solver::BySubstitution;
84			using hpp::constraints::solver::lineSearch::Backtracking;
85			using hpp::constraints::solver::lineSearch::Constant;
86			using hpp::constraints::solver::lineSearch::ErrorNormBased;
87			using hpp::constraints::solver::lineSearch::FixedSequence;
88			using hpp::pinocchio::displayConfig;
89			using hpp::pinocchio::JACOBIAN;
90			using hpp::pinocchio::JOINT_POSITION;
91			using hpp::pinocchio::unittest::HumanoidRomeo;
92			using hpp::pinocchio::unittest::HumanoidSimple;
93			using hpp::pinocchio::unittest::makeDevice;
94			using hpp::pinocchio::unittest::ManipulatorArm2;
95
96			namespace saturation = hpp::constraints::solver::saturation;
97
98		1016	matrix_t randomPositiveDefiniteMatrix(int N) {
99	1/2 ✓ Branch 2 taken 1016 times. ✗ Branch 3 not taken.	1016	matrix_t A(matrix_t::Random(N, N));
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101	9/18 ✓ Branch 1 taken 1016 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1016 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1016 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1016 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1016 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1016 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1016 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1016 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1016 times.	1016	BOOST_REQUIRE((A.array() > -1).all());
102
103	4/8 ✓ Branch 1 taken 1016 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1016 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1016 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1016 times. ✗ Branch 11 not taken.	1016	A = (A + A.transpose()) / 2;
104	3/6 ✓ Branch 1 taken 1016 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1016 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1016 times. ✗ Branch 8 not taken.	1016	A += N * matrix_t::Identity(N, N);
105	1/2 ✓ Branch 1 taken 1016 times. ✗ Branch 2 not taken.	1016	A /= N;
106		1016	return A;
107			}
108
109			const value_type test_precision = 1e-5;
110
111			// x y z
112			template <int N1, int N2, int N3>
113		4	void test_quadratic() {
114		4	const int N = N1 + N2 + N3;
115
116			// (x y z) A (x y z)
117	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t A(randomPositiveDefiniteMatrix(N));
118	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	Quadratic::Ptr_t quad(new Quadratic(A));
119
120			// y = B * z
121	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t B(matrix_t::Random(N2, N3));
122		4	const int Ninf = std::min(N2, N3);
123	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	B.topLeftCorner(Ninf, Ninf) = randomPositiveDefiniteMatrix(Ninf);
124		4	segments_t in;
125	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	in.push_back(segment_t(N1 + N2, N3));
126		4	segments_t out;
127	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out.push_back(segment_t(N1, N2));
128	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	8	AffineFunctionPtr_t affine(AffineFunction::create(B));
129	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl(
130	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), affine, in, out, in, out));
131
132			// Make solver
133	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	BySubstitution solver(LiegroupSpace::Rn(N));
134		4	solver.maxIterations(20);
135		4	solver.errorThreshold(test_precision);
136	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.saturation(hpp::make_shared<saturation::Bounds>(-vector_t::Ones(N),
137			vector_t::Ones(N)));
138
139	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.add(Implicit::create(quad, ComparisonTypes_t(1, EqualToZero)));
140	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	4	solver.add(expl);
141
142	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t M(N, N1 + N3);
143	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken.	4	M << matrix_t::Identity(N1, N1), matrix_t::Zero(N1, N3),
144	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken.	4	matrix_t::Zero(N2, N1), B, matrix_t::Zero(N3, N1),
145			matrix_t::Identity(N3, N3);
146	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	matrix_t Ar(M.transpose() * A * M);
147
148	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 2 times.	4	BOOST_CHECK_EQUAL(Ar.fullPivLu().rank(), N1 + N3);
149
150	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	vector_t x(N);
151
152	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setZero();
153	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK(solver.isSatisfied(x));
154
155	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
156	13/26 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 2 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 2 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 2 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 2 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 2 times. ✗ Branch 39 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 2 times.	4	SOLVER_CHECK_SOLVE(solver.solve<Backtracking>(x), SUCCESS);
157			// EIGEN_VECTOR_IS_APPROX (x, vector_t::Zero(N));
158	19/38 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✗ Branch 64 not taken. ✓ Branch 65 taken 2 times.	4	EIGEN_VECTOR_IS_APPROX(x.segment<N2>(N1), B * x.tail<N3>());
159	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK_SMALL(value_type(x.transpose() * A * x), test_precision);
160
161	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t expectedJ(1, N1 + N3), J(1, N1 + N3);
162
163	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
164	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	4	solver.explicitConstraintSet().solve(x);
165	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	expectedJ =
166	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	2 *
167	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken.	8	solver.explicitConstraintSet().notOutArgs().rview(x).eval().transpose() *
168			Ar;
169
170	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.computeValue<true>(x);
171	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.updateJacobian(x);
172	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.getReducedJacobian(J);
173
174	11/22 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 2 times.	4	EIGEN_IS_APPROX(expectedJ, J);
175		4	}
176
177			// w x y z
178			template <int N1, int N2, int N4, int N3>
179		4	void test_quadratic2() {
180		4	const int N = N1 + N2 + N3 + N4;
181
182			// (w x y z) A (w x y z)
183	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t A(randomPositiveDefiniteMatrix(N));
184	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	Quadratic::Ptr_t quad(new Quadratic(A));
185
186			// x = B * y
187	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t B(matrix_t::Random(N2, N3));
188		4	const int Ninf = std::min(N2, N3);
189	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	B.topLeftCorner(Ninf, Ninf) = randomPositiveDefiniteMatrix(Ninf);
190		4	segments_t in1;
191	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	in1.push_back(segment_t(N1 + N2, N3));
192		4	segments_t out1;
193	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out1.push_back(segment_t(N1, N2));
194	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	8	AffineFunctionPtr_t affine1(AffineFunction::create(B));
195	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl1(
196	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), affine1, in1, out1, in1, out1));
197
198			// y = C * z
199	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t C(matrix_t::Random(N3, N4));
200		4	const int Ninf2 = std::min(N3, N4);
201	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	C.topLeftCorner(Ninf2, Ninf2) = randomPositiveDefiniteMatrix(Ninf2);
202		4	segments_t in2;
203	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	in2.push_back(segment_t(N1 + N2 + N3, N4));
204		4	segments_t out2;
205	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out2.push_back(segment_t(N1 + N2, N3));
206	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	8	AffineFunctionPtr_t affine2(AffineFunction::create(C));
207	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl2(
208	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), affine2, in2, out2, in2, out2));
209
210			// Make solver
211	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	BySubstitution solver(LiegroupSpace::Rn(N));
212		4	solver.maxIterations(20);
213		4	solver.errorThreshold(test_precision);
214	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.saturation(hpp::make_shared<saturation::Bounds>(-vector_t::Ones(N),
215			vector_t::Ones(N)));
216
217	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.add(Implicit::create(quad, ComparisonTypes_t(1, EqualToZero)));
218	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	solver.add(expl1);
219	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	4	solver.add(expl2);
220	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	solver.explicitConstraintSetHasChanged();
221	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✓ Branch 5 taken 2 times.	4	assert(solver.contains(expl1));
222	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✓ Branch 5 taken 2 times.	4	assert(solver.contains(expl2));
223
224	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t M(N, N1 + N4);
225	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken.	4	M << matrix_t::Identity(N1, N1), matrix_t::Zero(N1, N4),
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227	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t::Zero(N4, N1), matrix_t::Identity(N4, N4);
228	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	matrix_t Ar(M.transpose() * A * M);
229
230	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 2 times.	4	BOOST_CHECK_EQUAL(Ar.fullPivLu().rank(), N1 + N4);
231
232	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	vector_t x(N);
233
234	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setZero();
235	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK(solver.isSatisfied(x));
236
237	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
238	13/26 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 2 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 2 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 2 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 2 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 2 times. ✗ Branch 39 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 2 times.	4	SOLVER_CHECK_SOLVE(solver.solve<Backtracking>(x), SUCCESS);
239			// SOLVER_CHECK_SOLVE (solver.solve<lineSearch::Constant>(x), SUCCESS);
240			// EIGEN_VECTOR_IS_APPROX (x, vector_t::Zero(N));
241	19/38 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✗ Branch 64 not taken. ✓ Branch 65 taken 2 times.	4	EIGEN_VECTOR_IS_APPROX(x.segment<N2>(N1), B * x.segment<N3>(N1 + N2));
242	19/38 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✗ Branch 64 not taken. ✓ Branch 65 taken 2 times.	4	EIGEN_VECTOR_IS_APPROX(x.segment<N3>(N1 + N2),
243			C * x.segment<N4>(N1 + N2 + N3));
244	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK_SMALL(value_type(x.transpose() * A * x), test_precision);
245
246	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t expectedJ(1, N1 + N4), J(1, N1 + N4);
247
248	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
249	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	4	solver.explicitConstraintSet().solve(x);
250	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	expectedJ =
251	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	2 *
252	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken.	8	solver.explicitConstraintSet().notOutArgs().rview(x).eval().transpose() *
253			Ar;
254
255	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.computeValue<true>(x);
256	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.updateJacobian(x);
257	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	solver.getReducedJacobian(J);
258
259	11/22 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 2 times.	4	EIGEN_IS_APPROX(expectedJ, J);
260		4	}
261
262			// w x y z
263			template <int N1, int N2, int N4, int N3>
264		4	void test_quadratic3() {
265		4	const int N = N1 + N2 + N3 + N4;
266
267			// x = B * (y z)
268	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t B(matrix_t::Random(N2, N3 + N4));
269		4	const int Ninf = std::min(N2, N3 + N4);
270	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	B.topLeftCorner(Ninf, Ninf) = randomPositiveDefiniteMatrix(Ninf);
271		4	segments_t in1;
272	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	in1.push_back(segment_t(N1 + N2, N3 + N4));
273		4	segments_t out1;
274	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out1.push_back(segment_t(N1, N2));
275	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	8	AffineFunctionPtr_t affine1(AffineFunction::create(B));
276	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl1(
277	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), affine1, in1, out1, in1, out1));
278
279			// y = C * z
280	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t C(matrix_t::Random(N3, N4));
281		4	const int Ninf2 = std::min(N3, N4);
282	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	C.topLeftCorner(Ninf2, Ninf2) = randomPositiveDefiniteMatrix(Ninf2);
283		4	segments_t in2;
284	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	in2.push_back(segment_t(N1 + N2 + N3, N4));
285		4	segments_t out2;
286	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out2.push_back(segment_t(N1 + N2, N3));
287	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	8	AffineFunctionPtr_t affine2(AffineFunction::create(C));
288	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl2(
289	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), affine2, in2, out2, in2, out2));
290
291			// z[0] = d
292	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	vector_t d(vector_t::Random(1));
293		4	segments_t in3;
294		4	segments_t out3;
295	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	out3.push_back(segment_t(N1 + N2 + N3, 1));
296	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	4	ConstantFunctionPtr_t constant3(ConstantFunction::create(d, 0, 0));
297	1/2 ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	12	ExplicitPtr_t expl3(
298	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	8	Explicit::create(LiegroupSpace::Rn(N), constant3, in3, out3, in3, out3));
299
300			// (w x y z) A (w x y z)
301	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t A(randomPositiveDefiniteMatrix(N));
302	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	Quadratic::Ptr_t quad(new Quadratic(A, -d[0]));
303
304			// Make solver
305	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	BySubstitution solver(LiegroupSpace::Rn(N));
306		4	solver.maxIterations(20);
307		4	solver.errorThreshold(test_precision);
308	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.saturation(hpp::make_shared<saturation::Bounds>(-vector_t::Ones(N),
309			vector_t::Ones(N)));
310
311	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	solver.add(Implicit::create(quad, ComparisonTypes_t(1, Equality)));
312	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	solver.add(expl1);
313	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	solver.add(expl2);
314	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	4	solver.add(expl3);
315	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	BySubstitution copySolver(solver);
316
317	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t M(N, N1 + N4);
318	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken.	4	M << matrix_t::Identity(N1, N1), matrix_t::Zero(N1, N4),
319	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken.	4	matrix_t::Zero(N2, N1), B.leftCols(N3) * C + B.rightCols(N4),
320	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken.	4	matrix_t::Zero(N3, N1), C, matrix_t::Zero(N4, N1),
321			matrix_t::Identity(N4, N4);
322	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	matrix_t P(N1 + N4, N1 + N4 - 1);
323	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken.	4	P << matrix_t::Identity(N1, N1), matrix_t::Zero(N1, N4 - 1),
324	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	matrix_t::Zero(1, N1 + N4 - 1), matrix_t::Zero(N4 - 1, N1),
325			matrix_t::Identity(N4 - 1, N4 - 1);
326	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	vector_t Xr_0(vector_t::Zero(N1 + N4));
327	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	Xr_0[N1] = d[0];
328
329	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	4	matrix_t Ar(M.transpose() * A * M);
330
331	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 2 times.	4	BOOST_CHECK_EQUAL(Ar.fullPivLu().rank(), N1 + N4);
332
333	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	vector_t x(N);
334
335	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
336	13/26 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 2 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 2 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 2 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 2 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 2 times. ✗ Branch 39 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 2 times.	4	SOLVER_CHECK_SOLVE(copySolver.solve<Backtracking>(x), SUCCESS);
337			// SOLVER_CHECK_SOLVE (solver.solve<lineSearch::Constant>(x), SUCCESS);
338			// EIGEN_VECTOR_IS_APPROX (x, vector_t::Zero(N));
339	19/38 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✗ Branch 64 not taken. ✓ Branch 65 taken 2 times.	4	EIGEN_VECTOR_IS_APPROX(x.segment<N2>(N1), B * x.segment<N3 + N4>(N1 + N2));
340	19/38 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✗ Branch 64 not taken. ✓ Branch 65 taken 2 times.	4	EIGEN_VECTOR_IS_APPROX(x.segment<N3>(N1 + N2),
341			C * x.segment<N4>(N1 + N2 + N3));
342	10/20 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 2 times.	4	BOOST_CHECK_SMALL(value_type(x.transpose() * A * x - d[0]), test_precision);
343
344	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	matrix_t expectedJ(1, N1 + N4 - 1), J(1, N1 + N4 - 1);
345
346	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	x.setRandom();
347	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	4	copySolver.explicitConstraintSet().solve(x);
348	5/10 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken.	8	expectedJ =
349	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	2 *
350	3/6 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken.	8	(P * copySolver.explicitConstraintSet().notOutArgs().rview(x).eval() +
351			Xr_0)
352			.transpose() *
353			Ar * P;
354
355	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	copySolver.computeValue<true>(x);
356	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	copySolver.updateJacobian(x);
357	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	copySolver.getReducedJacobian(J);
358
359	11/22 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 2 times.	4	EIGEN_IS_APPROX(expectedJ, J);
360		4	}
361
362	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(quadratic) {
363		2	test_quadratic<3, 3, 3>();
364		2	test_quadratic<5, 3, 4>();
365
366		2	test_quadratic2<3, 3, 3, 3>();
367		2	test_quadratic2<3, 4, 2, 6>();
368
369		2	test_quadratic3<3, 3, 3, 3>();
370		2	test_quadratic3<1, 4, 2, 6>();
371		2	}
372
373		100	void se3ToConfig(const Transform3s& oMi, vectorOut_t v) {
374	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 100 times.	100	assert(v.size() == 7);
375	3/6 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100 times. ✗ Branch 8 not taken.	100	v.head<3>() = oMi.translation();
376	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken.	100	Eigen::Map<Transform3s::Quaternion> q(v.tail<4>().data());
377	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	100	q = oMi.rotation();
378		100	}
379
380			class Frame : public DifferentiableFunction {
381			public:
382			JointPtr_t joint_;
383
384			Frame(JointPtr_t joint)
385			: DifferentiableFunction(joint->robot()->configSize(),
386			joint->robot()->numberDof(),
387			LiegroupSpace::SE3(), "Frame"),
388			joint_(joint) {}
389
390			void impl_compute(LiegroupElementRef result, vectorIn_t arg) const {
391			hpp::pinocchio::DeviceSync robot(joint_->robot());
392			robot.currentConfiguration(arg);
393			robot.computeForwardKinematics(JOINT_POSITION);
394
395			const Transform3s& oMi = joint_->currentTransformation(robot.d());
396			se3ToConfig(oMi, result.vector());
397			}
398
399			void impl_jacobian(matrixOut_t J, vectorIn_t arg) const {
400			// finiteDifferenceCentral(J, arg, joint_->robot(), 1e-6);
401			hpp::pinocchio::DeviceSync robot(joint_->robot());
402			robot.currentConfiguration(arg);
403			robot.computeForwardKinematics(JOINT_POSITION \| JACOBIAN);
404
405			J = joint_->jacobian(robot.d(), true);
406			}
407			};
408
409		219	matrix3_t exponential(const vector3_t& aa) {
410	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	matrix3_t R, xCross;
411	1/2 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken.	219	xCross.setZero();
412	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(1, 0) = +aa(2);
413	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(0, 1) = -aa(2);
414	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(2, 0) = -aa(1);
415	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(0, 2) = +aa(1);
416	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(2, 1) = +aa(0);
417	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	xCross(1, 2) = -aa(0);
418	1/2 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken.	219	R.setIdentity();
419	1/2 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken.	219	value_type theta = aa.norm();
420	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 219 times.	219	if (theta < 1e-6) {
421		✗	R += xCross;
422		✗	R += 0.5 * xCross.transpose() * xCross;
423			} else {
424	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	R += sin(theta) / theta * xCross;
425	3/6 ✓ Branch 3 taken 219 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 219 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 219 times. ✗ Branch 10 not taken.	219	R += 2 * std::pow(sin(theta / 2), 2) / std::pow(theta, 2) * xCross * xCross;
426			}
427		438	return R;
428			}
429
430			// Pose of a joint in root joint frame
431			//
432			// This differentiable function returns as ouput an element of R3xSO3
433			// corresponding to the pose of a joint J in the root joint frame of a robot.
434			// The input is the vector of configuration variables that move the joint with
435			// respect to the root joint.
436			class ExplicitTransformation : public DifferentiableFunction {
437			public:
438			JointPtr_t joint_;
439			size_type in_, inDer_;
440			// log_{SO(3)} (rootJoint^{-1}.joint)
441			RelativeTransformationPtr_t rt_;
442
443			// Constructor
444			// joint: joint J the pose of which is computed with respect to root joint.
445			// [in:in+l] : interval of robot configuration variables that
446			// modify the position of J with respect to the root
447			// joint.
448			// [inDer:inDer+lDer]: interval of robot velocity variables that modify the
449			// position of J with respect to the root joint.
450		1	ExplicitTransformation(JointPtr_t joint, size_type in, size_type l,
451			size_type inDer, size_type lDer)
452	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	: DifferentiableFunction(l, lDer, LiegroupSpace::R3xSO3(),
453			"ExplicitTransformation"),
454		1	joint_(joint),
455		1	in_(in),
456	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	3	inDer_(inDer) {
457	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	4	rt_ = RelativeTransformation::create("RT", joint_->robot(),
458	1/2 ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	joint_->robot()->rootJoint(), joint_,
459	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	3	Transform3s::Identity());
460		1	}
461
462		1	ExplicitConstraintSet::RowBlockIndices inArg() const {
463		1	ExplicitConstraintSet::RowBlockIndices ret;
464	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	ret.addRow(in_, inputSize());
465		1	return ret;
466			}
467
468		1	ExplicitConstraintSet::RowBlockIndices outArg() const {
469		1	ExplicitConstraintSet::RowBlockIndices ret;
470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	ret.addRow(0, 7);
471		1	return ret;
472			}
473
474		108	ExplicitConstraintSet::ColBlockIndices inDer() const {
475		108	ExplicitConstraintSet::ColBlockIndices ret;
476	1/2 ✓ Branch 2 taken 108 times. ✗ Branch 3 not taken.	108	ret.addCol(inDer_, inputDerivativeSize());
477		108	return ret;
478			}
479
480		1	ExplicitConstraintSet::RowBlockIndices outDer() const {
481		1	ExplicitConstraintSet::RowBlockIndices ret;
482	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	ret.addRow(0, 6);
483		1	return ret;
484			}
485			// Fill input variables with arg. Other variables are set to neutral
486		326	vector_t config(vectorIn_t arg) const {
487	1/2 ✓ Branch 4 taken 326 times. ✗ Branch 5 not taken.	326	vector_t q = joint_->robot()->neutralConfiguration();
488	2/4 ✓ Branch 2 taken 326 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 326 times. ✗ Branch 6 not taken.	326	q.segment(in_, inputSize()) = arg;
489		326	return q;
490			// joint_->robot()->currentConfiguration(q);
491			// joint_->robot()->computeForwardKinematics();
492			}
493
494			// Compute relative position of joint_ wrt root joint
495			// arg: vector of configuration variables that move joint_ in root joint.
496			// result: R3xSO3 element containing the result
497		219	void impl_compute(LiegroupElementRef result, vectorIn_t arg) const {
498			// forwardKinematics(arg);
499	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	LiegroupElement transform(LiegroupSpace::Rn(6));
500	2/4 ✓ Branch 1 taken 219 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 219 times. ✗ Branch 5 not taken.	219	vector_t q = config(arg);
501	3/6 ✓ Branch 2 taken 219 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 219 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 219 times. ✗ Branch 9 not taken.	219	rt_->value(transform, q);
502	3/6 ✓ Branch 2 taken 219 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 219 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 219 times. ✗ Branch 10 not taken.	219	result.vector().head<3>() = transform.vector().head<3>();
503	1/2 ✓ Branch 2 taken 219 times. ✗ Branch 3 not taken.	219	result.vector().tail<4>() =
504	4/8 ✓ Branch 2 taken 219 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 219 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 219 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 219 times. ✗ Branch 12 not taken.	219	Eigen::Quaternion<value_type>(exponential(transform.vector().tail<3>()))
505	1/2 ✓ Branch 2 taken 219 times. ✗ Branch 3 not taken.	438	.coeffs();
506
507			// Transform3s tf1 = joint_->robot()->rootJoint()->currentTransformation();
508			// Transform3s tf2 = joint_->currentTransformation();
509			// Transform3s tf = tf2.inverse() * tf1;
510
511			// result.head<3> = tf.translation();
512			// result.tail<4> = Eigen::Quaternion<value_type>(tf.rotation());
513		219	}
514
515		107	void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const {
516			// forwardKinematics(arg);
517	1/2 ✓ Branch 3 taken 107 times. ✗ Branch 4 not taken.	107	matrix_t J(6, rt_->inputDerivativeSize());
518	2/4 ✓ Branch 1 taken 107 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 107 times. ✗ Branch 5 not taken.	107	vector_t q = config(arg);
519	3/6 ✓ Branch 2 taken 107 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 107 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 107 times. ✗ Branch 9 not taken.	107	rt_->jacobian(J, q);
520
521	3/6 ✓ Branch 1 taken 107 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 107 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 107 times. ✗ Branch 8 not taken.	107	inDer().rview(J).writeTo(jacobian);
522		107	}
523			};
524
525			typedef hpp::shared_ptr<ExplicitTransformation> ExplicitTransformationPtr_t;
526
527	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(functions1) {
528	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BySubstitution solver(LiegroupSpace::R3());
529	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BySubstitution solver1(LiegroupSpace::R3());
530	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BySubstitution solver2(LiegroupSpace::R3());
531	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BySubstitution solver3(LiegroupSpace::R3());
532
533			/// System:
534			/// f (q1, q2) = 0
535			/// h ( q2) = 0
536			/// q1 = g(q3)
537			/// q2 = C
538
539			// f
540			ImplicitPtr_t impl(Implicit::create(
541	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	4	AffineFunction::create(matrix_t::Identity(2, 3)), 2 * EqualToZero));
542	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(impl);
543			// Test inclusion of manifolds
544	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	solver1.add(impl->copy());
545	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(solver.definesSubmanifoldOf(solver));
546	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(solver.definesSubmanifoldOf(solver1));
547	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(solver1.definesSubmanifoldOf(solver));
548
549			// q1 = g(q3)
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<value_type, 1, 1> Jg;
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jg(0, 0) = 1;
552	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::RowBlockIndices inArg;
553	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inArg.addRow(2, 1);
554	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::ColBlockIndices inDer;
555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inDer.addCol(2, 1);
556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::RowBlockIndices outArg;
557	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	outArg.addRow(1, 1);
558		2	segments_t in;
559	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	in.push_back(segment_t(2, 1));
560		2	segments_t out;
561	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	out.push_back(segment_t(0, 1));
562	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.	4	AffineFunctionPtr_t affine(AffineFunction::create(matrix_t::Ones(1, 1)));
563			ExplicitPtr_t expl(
564	2/4 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	Explicit::create(LiegroupSpace::R3(), affine, in, out, in, out));
565	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	solver.add(expl);
566			// Test inclusion of manifolds
567	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(solver.definesSubmanifoldOf(solver1));
568	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	solver1.add(expl->copy());
569			// q2 = C
570	6/12 ✓ 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken.	2	affine = AffineFunction::create(matrix_t(1, 0), vector_t::Zero(1));
571		2	in.clear();
572		2	out.clear();
573	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	out.push_back(segment_t(1, 1));
574	2/4 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	expl = Explicit::create(LiegroupSpace::R3(), affine, in, out, in, out);
575	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	solver.add(expl);
576	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.reducedDimension(), 2);
577	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(solver.definesSubmanifoldOf(solver1));
578
579			// h
580	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix_t h(1, 3);
581	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	h << 0, 1, 0;
582	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	6	solver.add(Implicit::create(AffineFunction::create(h),
583	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	4	ComparisonTypes_t(1, EqualToZero)));
584	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.dimension(), 3);
585	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.reducedDimension(), 2);
586	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(solver.definesSubmanifoldOf(solver1));
587
588	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	4	segments_t impDof{segment_t(2, 1)};
589	6/12 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.implicitDof(), impDof);
590		2	}
591
592	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(functions2) {
593	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BySubstitution solver(LiegroupSpace::R3());
594
595			/// System:
596			/// f (q1, q3) = 0
597			/// q2 = g(q3)
598	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<value_type, 2, 3> Jf;
599	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	Jf << 1, 0, 0, 0, 0, 1;
600	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken.	2	solver.add(Implicit::create(AffineFunction::create(Jf), 2 * EqualToZero));
601
602	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<value_type, 1, 1> Jg;
603	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jg(0, 0) = 1;
604	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::RowBlockIndices inArg;
605	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inArg.addRow(2, 1);
606	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::ColBlockIndices inDer;
607	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	inDer.addCol(2, 1);
608	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::RowBlockIndices outArg;
609	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	outArg.addRow(1, 1);
610			ExplicitPtr_t expl(Explicit::create(
611	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.	8	LiegroupSpace::R3(), AffineFunction::create(Jg), inArg.indices(),
612	5/10 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	10	outArg.indices(), inDer.indices(), outArg.indices()));
613		2	ImplicitPtr_t c1(expl);
614	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	solver.add(expl);
615	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.dimension(), 2);
616
617			// We add to the system h(q3) = 0
618			/// f (q1, q3) = 0
619			/// h ( q3) = 0
620			/// q2 = g(q3)
621			// This function should not be removed from the system.
622	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<value_type, 1, 3> Jh;
623	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Jh << 0, 0, 1;
624	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.	4	ImplicitPtr_t impl(Implicit::create(AffineFunction::create(Jh),
625	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	8	ComparisonTypes_t(1, EqualToZero)));
626		2	ImplicitPtr_t c2(impl);
627	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	c2->comparisonType(ComparisonTypes_t(1, Equality));
628	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(impl);
629	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.dimension(), 3);
630
631			// We add to the system q3 = C
632			// Function h should be removed, f should not.
633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t C(1);
634	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(0) = 0;
635		2	segments_t out;
636	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	out.push_back(segment_t(2, 1));
637	2/4 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	8	expl = Explicit::create(LiegroupSpace::R3(),
638	5/10 ✓ 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. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	4	AffineFunction::create(matrix_t(1, 0), C),
639		6	segments_t(), out, segments_t(), out);
640		2	ImplicitPtr_t c3(expl);
641	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	c3->comparisonType(ComparisonTypes_t(1, Equality));
642	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	solver.add(expl);
643
644	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.dimension(), 3);
645	5/10 ✓ 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 18 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.reducedDimension(), 2);
646
647	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	4	segments_t impDof = {segment_t(0, 1)};
648	6/12 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.implicitDof(), impDof);
649			// test right hand side access by functions.
650	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	vector_t rhs1(vector_t::Zero(c1->rightHandSideSize()));
651	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	vector_t rhs2(vector_t::Random(c2->rightHandSideSize()));
652	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	vector_t rhs3(vector_t::Random(c3->rightHandSideSize()));
653
654	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver.rightHandSide(c1, rhs1));
655	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver.rightHandSide(c2, rhs2));
656	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver.rightHandSide(c3, rhs3));
657
658	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vector_t tmp1(c1->rightHandSideSize());
659	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	tmp1.fill(sqrt(-1));
660	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vector_t tmp2(c2->rightHandSideSize());
661	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	tmp2.fill(sqrt(-1));
662	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vector_t tmp3(c3->rightHandSideSize());
663	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	tmp3.fill(sqrt(-1));
664
665	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(solver.getRightHandSide(c1, tmp1));
666	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(solver.getRightHandSide(c2, tmp2));
667	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(solver.getRightHandSide(c3, tmp3));
668
669	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(tmp1 == rhs1);
670	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(tmp2 == rhs2);
671	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(tmp3 == rhs3);
672		2	}
673
674	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(hybrid_solver) {
675	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device(makeDevice(HumanoidSimple));
676	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_REQUIRE(device);
677	8/16 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(device->rootJoint()->positionInParentFrame(),
678			Transform3s::Identity());
679	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(0, -1);
680	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(1, -1);
681	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(2, -1);
682	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(0, 1);
683	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(1, 1);
684	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(2, 1);
685	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t ee1 = device->getJointByName("rleg6_joint"),
686	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee2 = device->getJointByName("lleg6_joint"),
687	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee3 = device->getJointByName("larm6_joint");
688
689	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Configuration_t q0 = device->neutralConfiguration();
690	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	device->currentConfiguration(q0);
691	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	device->computeForwardKinematics(JOINT_POSITION);
692
693	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t lleg6Joint(device->getJointByName("lleg6_joint"));
694	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(lleg6Joint->rankInConfiguration(), 12);
695	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(lleg6Joint->rankInVelocity(), 11);
696	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(lleg6Joint->configSize(), 1);
697	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(lleg6Joint->numberDof(), 1);
698			// Compute a configuration that satisfies the constaints.
699			// Compute relative position of "lleg6_joint" wrt root
700	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s Mlleg6(lleg6Joint->currentTransformation());
701	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	Transform3s Mroot(device->rootJoint()->currentTransformation());
702	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s M(Mroot.inverse() * Mlleg6);
703	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	q0.segment<3>(0) = M.translation();
704	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	q0.segment<4>(3) = Eigen::Quaternion<value_type>(M.rotation()).coeffs();
705
706	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver(device->configSpace());
707		2	solver.maxIterations(40);
708		2	solver.errorThreshold(1e-4);
709	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.saturation(hpp::make_shared<saturation::Device>(device));
710
711	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	device->currentConfiguration(q0);
712	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	device->computeForwardKinematics(JOINT_POSITION);
713	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf1(ee1->currentTransformation());
714	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf2(ee2->currentTransformation());
715	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf3(ee3->currentTransformation());
716
717	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	8	solver.add(Implicit::create(
718	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	Orientation::create("Orientation lleg6_joint", device, ee2, tf2),
719		4	3 * EqualToZero));
720	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	8	solver.add(Implicit::create(
721	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	Orientation::create("Orientation larm6_joint", device, ee3, tf3),
722		4	3 * EqualToZero));
723
724	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(solver.numberStacks() == 1);
725
726		2	ExplicitTransformationPtr_t et;
727			{
728	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	et.reset(new ExplicitTransformation(lleg6Joint, 7, 6, 6, 6));
729			}
730			// Add an explicit constraint that computes the pose of the root joint (FF)
731			// output variables are [0:7] for configurations and [0:6] for velocities
732			// output value is equal to relative pose of "lleg6_joint" with respect to
733			// the root joint.
734	16/32 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 39 taken 1 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	2	BOOST_CHECK(solver.explicitConstraintSet().add(Explicit::create(
735			device->configSpace(), et, et->inArg().indices(),
736			et->outArg().indices(), et->inDer().indices(),
737			et->outDer().indices())) >= 0);
738	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.explicitConstraintSetHasChanged();
739	6/12 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken.	2	BOOST_TEST_MESSAGE(solver << '\n');
740
741	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver.isSatisfied(q0));
742
743	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	vector_t v(vector_t::Random(device->numberDof()));
744	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v *= .1;
745	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Configuration_t qrand(q0);
746	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	LiegroupElement g(qrand, device->configSpace());
747	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	g += v;
748	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	qrand = g.vector();
749	8/16 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.solve<Backtracking>(qrand), BySubstitution::SUCCESS);
750	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	qrand = g.vector();
751	8/16 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.solve<ErrorNormBased>(qrand),
752			BySubstitution::SUCCESS);
753	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	qrand = g.vector();
754	8/16 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.solve<FixedSequence>(qrand),
755			BySubstitution::SUCCESS);
756	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.solve<Constant>(qrand), BySubstitution::SUCCESS);
757		2	}
758
759	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(by_substitution_serialization) {
760	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device(makeDevice(HumanoidSimple));
761	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_REQUIRE(device);
762	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(0, -1);
763	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(1, -1);
764	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->lowerBound(2, -1);
765	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(0, 1);
766	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(1, 1);
767	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	device->rootJoint()->upperBound(2, 1);
768	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t ee1 = device->getJointByName("rleg5_joint"),
769	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee2 = device->getJointByName("lleg5_joint"),
770	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee3 = device->getJointByName("larm5_joint");
771
772	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Configuration_t q = device->currentConfiguration(),
773	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	qrand = ::pinocchio::randomConfiguration(device->model());
774
775	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver(device->configSpace());
776		2	solver.maxIterations(20);
777		2	solver.errorThreshold(1e-3);
778	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.saturation(hpp::make_shared<saturation::Device>(device));
779
780	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	device->currentConfiguration(q);
781	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	device->computeForwardKinematics(JOINT_POSITION);
782	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf1(ee1->currentTransformation());
783	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf2(ee2->currentTransformation());
784	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Transform3s tf3(ee3->currentTransformation());
785
786	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	8	solver.add(Implicit::create(
787	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	Orientation::create("Orientation RAnkleRoll", device, ee2, tf2),
788		4	3 * Equality));
789	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	8	solver.add(Implicit::create(
790	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	Orientation::create("Orientation LWristPitch", device, ee3, tf3),
791		4	3 * Equality));
792	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	solver.add(LockedJoint::create(ee1, ee1->configurationSpace()->neutral()));
793
794	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(solver.numberStacks() == 1);
795
796	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::stringstream ss;
797			{
798	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::serialization::xml_oarchive oa(ss);
799	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	oa.insert(device->name(), device.get());
800	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	oa << boost::serialization::make_nvp("solver", solver);
801		2	}
802
803	6/12 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken.	2	BOOST_TEST_MESSAGE(ss.str());
804
805	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution r_solver(device->configSpace());
806			{
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::serialization::xml_iarchive ia(ss);
808	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ia.insert(device->name(), device.get());
809	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ia >> boost::serialization::make_nvp("solver", r_solver);
810		2	}
811
812	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::ostringstream ss_result, ss_expect;
813	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ss_expect << solver << '\n';
814	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ss_result << r_solver << '\n';
815	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK_EQUAL(ss_expect.str(), ss_result.str());
816		2	}
817
818	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(hybrid_solver_rhs) {
819			using namespace hpp::constraints;
820
821	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device(makeDevice(HumanoidRomeo));
822	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_REQUIRE(device);
823
824	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Configuration_t q, qrand;
825
826	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t left = device->getJointByName("LWristPitch");
827			TransformationR3xSO3::Ptr_t frame(TransformationR3xSO3::create(
828	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	"LWristPitch", device, left, Transform3s::Identity()));
829			Transformation::Ptr_t logFrame(Transformation::create(
830	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	"LWristPitch", device, left, Transform3s::Identity()));
831
832			// Check the logFrame if the log6 of frame.
833	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	LiegroupElement valueFrame(frame->outputSpace()),
834	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	logValFrame(logFrame->outputSpace());
835	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	2	matrix_t Jframe(6, device->numberDof()), JlogFrame(6, device->numberDof()),
836	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expectedJlogFrame(6, device->numberDof());
837	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	LiegroupElement neutral = frame->outputSpace()->neutral();
838	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int i = 0; i < 100; ++i) {
839	1/2 ✓ Branch 3 taken 100 times. ✗ Branch 4 not taken.	200	q = ::pinocchio::randomConfiguration(device->model());
840
841	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	200	frame->value(valueFrame, q);
842	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	200	logFrame->value(logValFrame, q);
843
844	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	vector_t expectedLog = hpp::pinocchio::log(valueFrame);
845
846	13/26 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 100 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 100 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 100 times. ✗ Branch 30 not taken. ✓ Branch 33 taken 100 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 100 times. ✗ Branch 37 not taken. ✓ Branch 39 taken 100 times. ✗ Branch 40 not taken. ✗ Branch 48 not taken. ✓ Branch 49 taken 100 times.	200	EIGEN_VECTOR_IS_APPROX(expectedLog, logValFrame.vector());
847
848	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	200	frame->jacobian(Jframe, q);
849	3/6 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken.	200	logFrame->jacobian(expectedJlogFrame, q);
850
851	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	JlogFrame = Jframe;
852	4/8 ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 100 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken.	600	frame->outputSpace()->dDifference_dq1<hpp::pinocchio::DerivativeTimesInput>(
853		400	neutral.vector(), valueFrame.vector(), JlogFrame);
854
855	11/22 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 100 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 100 times.	200	EIGEN_IS_APPROX(expectedJlogFrame, JlogFrame);
856		200	}
857
858			// Check that the solver can handle constraints with R3xSO3 outputs.
859	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	ImplicitPtr_t constraint(Implicit::create(frame, 6 * Equality));
860
861	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver(device->configSpace());
862		2	solver.maxIterations(20);
863		2	solver.errorThreshold(1e-3);
864	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	solver.saturation(hpp::make_shared<saturation::Device>(device));
865
866	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(constraint);
867
868	6/12 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(solver.rightHandSideSize(), 7);
869
870	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (int i = 0; i < 100; ++i) {
871	1/2 ✓ Branch 3 taken 100 times. ✗ Branch 4 not taken.	200	q = ::pinocchio::randomConfiguration(device->model()),
872
873	2/4 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken.	200	device->currentConfiguration(q);
874	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	device->computeForwardKinematics(JOINT_POSITION);
875	2/4 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken.	200	Transform3s tf_expected(left->currentTransformation());
876	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	vector_t rhs_expected(7), rhs(7);
877	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	se3ToConfig(tf_expected, rhs_expected);
878
879	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	solver.rightHandSideFromConfig(q);
880	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	rhs = solver.rightHandSide();
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882	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	solver.getRightHandSide(constraint, rhs);
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884
885	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	solver.rightHandSideFromConfig(constraint, q);
886	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	rhs = solver.rightHandSide();
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888
889	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	solver.rightHandSide(rhs_expected);
890	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	rhs = solver.rightHandSide();
891	55/108 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 100 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 100 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 100 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 100 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 100 times. ✗ Branch 44 not taken. ✗ Branch 52 not taken. ✓ Branch 53 taken 100 times. ✓ Branch 55 taken 100 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 100 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 100 times. ✗ Branch 62 not taken. ✓ Branch 64 taken 100 times. ✗ Branch 65 not taken. ✓ Branch 67 taken 100 times. ✗ Branch 68 not taken. ✓ Branch 70 taken 100 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 100 times. ✗ Branch 74 not taken. ✓ Branch 75 taken 66 times. ✓ Branch 76 taken 34 times. ✓ Branch 78 taken 66 times. ✗ Branch 79 not taken. ✓ Branch 82 taken 66 times. ✗ Branch 83 not taken. ✓ Branch 87 taken 66 times. ✗ Branch 88 not taken. ✓ Branch 90 taken 66 times. ✗ Branch 91 not taken. ✓ Branch 93 taken 66 times. ✗ Branch 94 not taken. ✓ Branch 96 taken 66 times. ✗ Branch 97 not taken. ✓ Branch 99 taken 66 times. ✗ Branch 100 not taken. ✓ Branch 102 taken 66 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 66 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 66 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 66 times. ✗ Branch 112 not taken. ✓ Branch 114 taken 66 times. ✗ Branch 115 not taken. ✓ Branch 117 taken 66 times. ✗ Branch 118 not taken. ✓ Branch 120 taken 66 times. ✗ Branch 121 not taken. ✗ Branch 129 not taken. ✓ Branch 130 taken 66 times. ✓ Branch 132 taken 34 times. ✗ Branch 133 not taken. ✓ Branch 136 taken 34 times. ✗ Branch 137 not taken. ✓ Branch 141 taken 34 times. ✗ Branch 142 not taken. ✓ Branch 144 taken 34 times. ✗ Branch 145 not taken. ✓ Branch 147 taken 34 times. ✗ Branch 148 not taken. ✓ Branch 150 taken 34 times. ✗ Branch 151 not taken. ✓ Branch 153 taken 34 times. ✗ Branch 154 not taken. ✓ Branch 156 taken 34 times. ✗ Branch 157 not taken. ✓ Branch 159 taken 34 times. ✗ Branch 160 not taken. ✓ Branch 162 taken 34 times. ✗ Branch 163 not taken. ✓ Branch 165 taken 34 times. ✗ Branch 166 not taken. ✓ Branch 168 taken 34 times. ✗ Branch 169 not taken. ✓ Branch 171 taken 34 times. ✗ Branch 172 not taken. ✓ Branch 174 taken 34 times. ✗ Branch 175 not taken. ✓ Branch 177 taken 34 times. ✗ Branch 178 not taken. ✗ Branch 186 not taken. ✓ Branch 187 taken 34 times.	200	SE3CONFIG_IS_APPROX(rhs_expected, rhs);
892
893	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	solver.rightHandSide(constraint, rhs_expected);
894	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	rhs = solver.rightHandSide();
895	38/108 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 100 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 100 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 100 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 100 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 100 times. ✗ Branch 44 not taken. ✗ Branch 52 not taken. ✓ Branch 53 taken 100 times. ✓ Branch 55 taken 100 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 100 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 100 times. ✗ Branch 62 not taken. ✓ Branch 64 taken 100 times. ✗ Branch 65 not taken. ✓ Branch 67 taken 100 times. ✗ Branch 68 not taken. ✓ Branch 70 taken 100 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 100 times. ✗ Branch 74 not taken. ✓ Branch 75 taken 100 times. ✗ Branch 76 not taken. ✓ Branch 78 taken 100 times. ✗ Branch 79 not taken. ✓ Branch 82 taken 100 times. ✗ Branch 83 not taken. ✓ Branch 87 taken 100 times. ✗ Branch 88 not taken. ✓ Branch 90 taken 100 times. ✗ Branch 91 not taken. ✓ Branch 93 taken 100 times. ✗ Branch 94 not taken. ✓ Branch 96 taken 100 times. ✗ Branch 97 not taken. ✓ Branch 99 taken 100 times. ✗ Branch 100 not taken. ✓ Branch 102 taken 100 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 100 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 100 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 100 times. ✗ Branch 112 not taken. ✓ Branch 114 taken 100 times. ✗ Branch 115 not taken. ✓ Branch 117 taken 100 times. ✗ Branch 118 not taken. ✓ Branch 120 taken 100 times. ✗ Branch 121 not taken. ✗ Branch 129 not taken. ✓ Branch 130 taken 100 times. ✗ Branch 132 not taken. ✗ Branch 133 not taken. ✗ Branch 136 not taken. ✗ Branch 137 not taken. ✗ Branch 141 not taken. ✗ Branch 142 not taken. ✗ Branch 144 not taken. ✗ Branch 145 not taken. ✗ Branch 147 not taken. ✗ Branch 148 not taken. ✗ Branch 150 not taken. ✗ Branch 151 not taken. ✗ Branch 153 not taken. ✗ Branch 154 not taken. ✗ Branch 156 not taken. ✗ Branch 157 not taken. ✗ Branch 159 not taken. ✗ Branch 160 not taken. ✗ Branch 162 not taken. ✗ Branch 163 not taken. ✗ Branch 165 not taken. ✗ Branch 166 not taken. ✗ Branch 168 not taken. ✗ Branch 169 not taken. ✗ Branch 171 not taken. ✗ Branch 172 not taken. ✗ Branch 174 not taken. ✗ Branch 175 not taken. ✗ Branch 177 not taken. ✗ Branch 178 not taken. ✗ Branch 186 not taken. ✗ Branch 187 not taken.	200	SE3CONFIG_IS_APPROX(rhs_expected, rhs);
896
897	8/16 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 100 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 100 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 100 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 100 times.	200	BOOST_CHECK_EQUAL(solver.solve<FixedSequence>(q), BySubstitution::SUCCESS);
898
899			BySubstitution::Status status;
900	1/2 ✓ Branch 0 taken 137 times. ✗ Branch 1 not taken.	274	for (int j = 0; j < 100; ++j) {
901	1/2 ✓ Branch 3 taken 137 times. ✗ Branch 4 not taken.	274	qrand = ::pinocchio::randomConfiguration(device->model());
902	3/6 ✓ Branch 1 taken 137 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 137 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 137 times. ✗ Branch 8 not taken.	274	status = solver.solve<FixedSequence>(qrand);
903	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 37 times.	274	if (status == BySubstitution::SUCCESS) break;
904			}
905	5/10 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 100 times.	200	BOOST_CHECK_EQUAL(status, BySubstitution::SUCCESS);
906
907	1/2 ✓ Branch 0 taken 100 times. ✗ Branch 1 not taken.	200	if (status == BySubstitution::SUCCESS) {
908	2/4 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken.	200	device->currentConfiguration(qrand);
909	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	device->computeForwardKinematics(JOINT_POSITION);
910	2/4 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken.	200	Transform3s tf_result(left->currentTransformation());
911
912	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	Transform3s id = tf_expected.actInv(tf_result);
913	12/24 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 100 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 100 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 100 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 100 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 100 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 100 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 100 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 100 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 100 times. ✗ Branch 35 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 100 times.	200	BOOST_CHECK_MESSAGE(id.isIdentity(1e-3), "Right hand side is different:\n"
914			<< tf_result << '\n'
915			<< tf_expected << '\n'
916			<< id);
917			}
918		200	}
919		2	}
920
921	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(rightHandSide) {
922	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (size_type i = 0; i < 1000; ++i) {
923		2000	size_type N(10);
924	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	matrix_t A(randomPositiveDefiniteMatrix((int)N));
925	3/6 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken.	4000	AffineFunctionPtr_t affine(AffineFunction::create(A));
926	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	vector_t b(vector_t::Random(N));
927	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	ComparisonTypes_t comp(N, Equality);
928		2000	comp[1] = comp[3] = comp[5] = comp[6] = EqualToZero;
929	4/8 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken.	2000	b[1] = b[3] = b[5] = b[6] = 0;
930
931	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	BySubstitution solver(LiegroupSpace::Rn(N));
932		2000	solver.maxIterations(20);
933		2000	solver.errorThreshold(test_precision);
934			// Create constraint with various comparison types
935	3/6 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1000 times. ✗ Branch 7 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken.	4000	ImplicitPtr_t constraint(Implicit::create(affine, comp));
936	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	solver.add(constraint);
937	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	solver.rightHandSide(constraint, b);
938	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	vector_t b1(N);
939	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	solver.getRightHandSide(constraint, b1);
940	7/14 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1000 times.	2000	BOOST_CHECK(b == b1);
941			// Check resolution
942	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	vector_t x(vector_t::Random(N));
943	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	solver.solve(x);
944	3/6 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1000 times. ✗ Branch 8 not taken.	2000	vector_t error(A * x - b);
945	14/28 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1000 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1000 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1000 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1000 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1000 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1000 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1000 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1000 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1000 times. ✗ Branch 41 not taken. ✗ Branch 50 not taken. ✓ Branch 51 taken 1000 times.	2000	BOOST_CHECK_MESSAGE(error.norm() < test_precision,
946			"Error threshold exceeded. Error is "
947			<< error.transpose() << ", norm " << error.norm()
948			<< ". Precision is " << test_precision);
949		2000	}
950		2	}
951
952	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(rightHandSideFromConfig) {
953			// Create a kinematic chain
954	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device = hpp::pinocchio::unittest::makeDevice(HumanoidSimple);
955	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	JointPtr_t root = device->rootJoint(),
956	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee1 = device->getJointByName("lleg5_joint"),
957	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee2 = device->getJointByName("rleg5_joint");
958	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_REQUIRE(device);
959
960	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	ComparisonTypes_t comp1(EqualToZero << Equality << EqualToZero << Equality
961	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	<< EqualToZero << Equality);
962	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp1[0] == EqualToZero);
963	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp1[2] == EqualToZero);
964	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp1[4] == EqualToZero);
965	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ComparisonTypes_t comp2(2 * Equality << 2 * EqualToZero << 2 * Equality);
966	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[0] == Equality);
967	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[1] == Equality);
968	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[2] == EqualToZero);
969	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[3] == EqualToZero);
970	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[4] == Equality);
971	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	assert(comp2[5] == Equality);
972			// Create two relative transformation constraints
973	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1(Transform3s::Identity());
974	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector3_t u;
975	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	u << 0, -.2, 0;
976	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2(Transform3s::Identity());
977	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.translation(u);
978
979			DifferentiableFunctionPtr_t h(
980	2/4 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	RelativeTransformation::create("RelativeTransformation", device, ee1, ee2,
981	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	6	tf1, tf2, std::vector<bool>(6, true)));
982	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ImplicitPtr_t c1(Implicit::create(h, comp1));
983	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	u << 1.2, 0, -1;
984	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.translation(u);
985	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	8	ImplicitPtr_t c2(hpp::constraints::explicit_::RelativePose::create(
986		4	"Transformation", device, JointPtr_t(), root, tf2, tf1, comp2,
987	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	6	std::vector<bool>(6, true)));
988
989	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver(device->configSpace());
990		2	solver.maxIterations(20);
991		2	solver.errorThreshold(test_precision);
992	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(c1);
993	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(c2);
994			// 0
995			// rhs [1]
996			// f1 (q) = 0
997			// rhs [3]
998			// 0
999			// rhs [5]
1000			//
1001			// rhs [6]
1002			// 0
1003			// f2 (q) = 0
1004			// rhs [9]
1005			// rhs [10]
1006			// rhs [11]
1007			// rhs [12]
1008	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (size_type i = 0; i < 1000; ++i) {
1009	1/2 ✓ Branch 3 taken 1000 times. ✗ Branch 4 not taken.	2000	Configuration_t q = ::pinocchio::randomConfiguration(device->model());
1010			bool success;
1011			// Set right hand side for both constraints from random configuration
1012	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSideFromConfig(c1, q);
1013	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1014	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSideFromConfig(c2, q);
1015	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1016			// Store right hand side for each constraint
1017	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	vector_t rhs1(6);
1018	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	rhs1.setZero();
1019	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	vector_t rhs1_(6);
1020	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	rhs1_.setZero();
1021	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	vector_t rhs2(7);
1022	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	rhs2.setZero();
1023	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	vector_t rhs2_(7);
1024	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	rhs2_.setZero();
1025	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.getRightHandSide(c1, rhs1);
1026	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1027	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.getRightHandSide(c2, rhs2);
1028	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1029			// Set right hand side for both constraints from other random configuration
1030	1/2 ✓ Branch 3 taken 1000 times. ✗ Branch 4 not taken.	2000	q = ::pinocchio::randomConfiguration(device->model());
1031	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSideFromConfig(c1, q);
1032	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1033	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSideFromConfig(c2, q);
1034	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1035			// Set right hand side from stored values
1036	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSide(c1, rhs1);
1037	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1038	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.rightHandSide(c2, rhs2);
1039	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1040			// Get right hand side for each constraint and compare to stored values
1041	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.getRightHandSide(c1, rhs1_);
1042	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1043	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	success = solver.getRightHandSide(c2, rhs2_);
1044	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_CHECK(success);
1045	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK((rhs1 - rhs1_).norm() < 1e-10);
1046	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK((rhs2 - rhs2_).norm() < 1e-10);
1047		2000	}
1048		2	}
1049
1050	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(merge) {
1051			// Create a kinematic chain
1052	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t device = hpp::pinocchio::unittest::makeDevice(HumanoidSimple);
1053	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	JointPtr_t root = device->rootJoint(),
1054	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee1 = device->getJointByName("lleg5_joint"),
1055	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ee2 = device->getJointByName("rleg5_joint");
1056	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_REQUIRE(device);
1057	2/4 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	Configuration_t q(device->configSpace()->neutral().vector());
1058	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ComparisonTypes_t comp1(6 * Equality);
1059		2	comp1[0] = comp1[2] = comp1[4] = EqualToZero;
1060	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ComparisonTypes_t comp2(6 * Equality);
1061		2	comp2[1] = comp2[2] = EqualToZero;
1062			// Create two relative transformation constraints
1063	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf1(Transform3s::Identity());
1064	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector3_t u;
1065	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	u << 0, -.2, 0;
1066	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s tf2(Transform3s::Identity());
1067	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.translation(u);
1068	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	4	DifferentiableFunctionPtr_t h(RelativeTransformation::create(
1069		2	"RelativeTransformation", device, ee1, ee2, tf1, tf2));
1070	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	ImplicitPtr_t c1(Implicit::create(h, comp1));
1071	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	u << 1.2, 0, -1;
1072	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tf2.translation(u);
1073			ImplicitPtr_t c2(
1074	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	4	LockedJoint::create(ee1, ee1->configurationSpace()->neutral()));
1075
1076	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	8	ImplicitPtr_t c3(hpp::constraints::explicit_::RelativePose::create(
1077		6	"Transformation root", device, JointPtr_t(), root, tf2, tf1, comp2));
1078
1079	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver1(device->configSpace());
1080	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver2(device->configSpace());
1081		2	solver1.maxIterations(20);
1082		2	solver1.errorThreshold(test_precision);
1083	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	solver1.add(c1->copy());
1084	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	solver1.add(c2->copy());
1085	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	solver2.add(c1->copy());
1086	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	solver2.add(c3->copy());
1087			// copy and merge solvers
1088	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BySubstitution solver3(solver1);
1089	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	BySubstitution solver4(solver2);
1090
1091	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver3.merge(solver4);
1092
1093	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK(solver3.numericalConstraints().size() == 3);
1094	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(solver3.contains(c1));
1095	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(solver3.contains(c2));
1096	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(solver3.contains(c3));
1097	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver3.rightHandSideFromConfig(c1, q));
1098	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver3.rightHandSideFromConfig(c2, q));
1099	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(solver3.rightHandSideFromConfig(c3, q));
1100
1101			// Check computation of errors by constraint
1102			// order is c1 c2 c3
1103	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t error(solver3.errorSize());
1104	1/2 ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	vector_t error1(c1->function().outputSpace()->nv());
1105	1/2 ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	vector_t error2(c2->function().outputSpace()->nv());
1106	1/2 ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	vector_t error3(c3->function().outputSpace()->nv());
1107	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (int i = 0; i < 2; ++i) {
1108	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	bool satisfied(solver3.isSatisfied(q, error));
1109			bool found;
1110	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	bool satisfied1(solver3.isConstraintSatisfied(c1, q, error1, found));
1111	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2 times.	4	BOOST_CHECK(found);
1112	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	bool satisfied2(solver3.isConstraintSatisfied(c2, q, error2, found));
1113	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2 times.	4	BOOST_CHECK(found);
1114	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	bool satisfied3(solver3.isConstraintSatisfied(c3, q, error3, found));
1115	6/12 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 2 times.	4	BOOST_CHECK(found);
1116	6/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 2 times.	4	BOOST_CHECK_EQUAL(satisfied, (satisfied1 && satisfied2 && satisfied3));
1117		4	size_type row = 0, nRows = error1.size();
1118	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 2 times.	4	BOOST_CHECK(error1 == error.segment(row, nRows));
1119		4	row += nRows;
1120		4	nRows = error2.size();
1121	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 2 times.	4	BOOST_CHECK(error2 == error.segment(row, nRows));
1122		4	row += nRows;
1123		4	nRows = error3.size();
1124	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 2 times.	4	BOOST_CHECK(error3 == error.segment(row, nRows));
1125
1126	1/2 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken.	4	q = ::pinocchio::randomConfiguration(device->model());
1127			}
1128
1129	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	BySubstitution solver5(device->configSpace());
1130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver5.add(c3);
1131	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(solver5.contains(c3->copy()));
1132		2	}
1133