GCC Code Coverage Report

Directory:	./
File:	tests/solver-hierarchical-iterative.cc
Date:	2025-05-05 12:19:30

	Exec	Total	Coverage
Lines:	162	165	98.2%
Branches:	706	1424	49.6%

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 HIERARCHICAL_ITERATIVE_SOLVER
30			#include <../tests/util.hh>
31			#include <boost/make_shared.hpp>
32			#include <boost/test/unit_test.hpp>
33			#include <functional>
34			#include <hpp/constraints/affine-function.hh>
35			#include <hpp/constraints/generic-transformation.hh>
36			#include <hpp/constraints/implicit.hh>
37			#include <hpp/constraints/solver/hierarchical-iterative.hh>
38			#include <hpp/pinocchio/configuration.hh>
39			#include <hpp/pinocchio/device.hh>
40			#include <hpp/pinocchio/joint.hh>
41			#include <hpp/pinocchio/liegroup-space.hh>
42			#include <hpp/pinocchio/simple-device.hh>
43			#include <pinocchio/algorithm/joint-configuration.hpp>
44
45			using namespace hpp::constraints;
46			namespace saturation = hpp::constraints::solver::saturation;
47
48			const value_type test_precision = 1e-5;
49
50			#define VECTOR2(x0, x1) ((hpp::constraints::vector_t(2) << x0, x1).finished())
51
52			using Eigen::VectorXi;
53			using hpp::pinocchio::LiegroupSpace;
54
55			template <typename LineSearch>
56			struct test_base {
57			solver::HierarchicalIterative solver;
58			LineSearch ls;
59
60	2/4 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	12	test_base(const size_type& d) : solver(LiegroupSpace::Rn(d)) {
61		12	solver.maxIterations(20);
62		12	solver.errorThreshold(test_precision);
63	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	solver.saturation(hpp::make_shared<saturation::Bounds>(vector_t::Zero(2),
64			vector_t::Ones(2)));
65		12	}
66
67		50	vector_t success(value_type x0, value_type x1) {
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70			solver::HierarchicalIterative::SUCCESS);
71		50	return x;
72			}
73
74		1	vector_t failure(value_type x0, value_type x1) {
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77			std::not_equal_to<solver::HierarchicalIterative::Status>(),
78			(solver.solve(x, ls))(solver::HierarchicalIterative::SUCCESS));
79		1	return x;
80			}
81			};
82
83			template <typename LineSearch = solver::lineSearch::Constant>
84			struct test_quadratic : test_base<LineSearch> {
85	1/2 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken.	10	test_quadratic(const matrix_t& A) : test_base<LineSearch>(A.cols()) {
86			// Find (x, y)
87			// s.t. a * x^2 + b * y^2 - 1 = 0
88			// 0 <= x <= 1
89			// 0 <= y <= 1
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92	3/6 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 5 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 5 times. ✗ Branch 8 not taken.	10	Quadratic::Ptr_t f(new Quadratic(A, -1));
93
94	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	10	this->solver.add(
95			Implicit::create(
96	1/2 ✓ Branch 4 taken 5 times. ✗ Branch 5 not taken.	20	f, ComparisonTypes_t(f->outputDerivativeSize(), Equality)),
97		20	0);
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99		10	}
100			};
101
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103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix_t A(2, 2);
104
105	4/8 ✓ 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.	2	A << 1, 0, 0, 1;
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_quadratic<> test(A);
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108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0.1, 0);
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0, 0.1);
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111
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113	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	test = test_quadratic<>(A);
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0.1, 0);
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0, 0.1);
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117
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119	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	test = test_quadratic<>(A);
120			// This is exact because of the saturation
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122			VECTOR2(1, 1)); // Slide on the border x = 1
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124			VECTOR2(1, 1)); // Slide on the border y = 1
125
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127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_quadratic<solver::lineSearch::FixedSequence> test4(A);
128			// This is not exact because the solver does not saturate.
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130			test4.success(1, 0.1),
131			VECTOR2(1., 1 / sqrt(3))); // Slide on the border x = 1
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133			test4.success(0.1, 1),
134			VECTOR2(1 / sqrt(3), 1.)); // Slide on the border y = 1
135			// There is an overshoot. To overcome this, the Hessian of the function should
136			// be obtained.
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138			test4.success(1, 0.001),
139			VECTOR2(1., 1 / sqrt(3))); // Slide on the border x = 1
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141			test4.success(0.001, 1),
142			VECTOR2(1 / sqrt(3), 1.)); // Slide on the border y = 1
143
144			// Ellipsoid: computations are approximative
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146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_quadratic<solver::lineSearch::FixedSequence> test1(A);
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148			VECTOR2(1., 0.5)); // Slide on the border x = 1
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150			VECTOR2(1., 0.5)); // Slide on the border x = 1
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152		2	}
153
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155			DevicePtr_t device = hpp::pinocchio::unittest::makeDevice(
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164	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("lleg5_joint"),
165	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");
166
167	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(),
168	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	qrand = ::pinocchio::randomConfiguration(device->model());
169
170	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	solver::HierarchicalIterative solver(device->configSpace());
171		2	solver.maxIterations(20);
172		2	solver.errorThreshold(1e-3);
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.saturation(hpp::make_shared<solver::saturation::Device>(device));
174
175	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	device->currentConfiguration(q);
176	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	device->computeForwardKinematics(hpp::pinocchio::JOINT_POSITION);
177	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());
178	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());
179
180			ImplicitPtr_t constraint(Implicit::create(
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183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(constraint, 0);
184	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken.	8	constraint = Implicit::create(Position::create("Position", device, ee2, tf2),
185		6	3 * Equality);
186	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 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(constraint->comparisonType() == 3 * Equality);
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(constraint, 0);
188
189	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);
190
191	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(q));
192
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Configuration_t tmp = qrand;
194	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<solver::lineSearch::Backtracking>(qrand),
195			solver::HierarchicalIterative::SUCCESS);
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qrand = tmp;
197	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<solver::lineSearch::ErrorNormBased>(qrand),
198			solver::HierarchicalIterative::SUCCESS);
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qrand = tmp;
200	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<solver::lineSearch::FixedSequence>(qrand),
201			solver::HierarchicalIterative::SUCCESS);
202		2	}
203
204			template <typename LineSearch = solver::lineSearch::Constant>
205			struct test_affine_opt : test_base<LineSearch> {
206		1	test_affine_opt(const matrix_t& A, const matrix_t& B)
207	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	: test_base<LineSearch>(A.cols()) {
208			// min X^T * B * X
209			// s.t. A * X - 1 = 0
210			// 0 <= X <= 1
211	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	1	BOOST_REQUIRE_EQUAL(A.cols(), B.cols());
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215	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.	2	AffineFunctionPtr_t f(AffineFunction::create(A, vector_t::Constant(1, -1)));
216	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.	1	Quadratic::Ptr_t cost(new Quadratic(B));
217	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	3	ImplicitPtr_t f_constraint(Implicit::create(
218	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	f, ComparisonTypes_t(f->outputDerivativeSize(), Equality)));
219	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	3	ImplicitPtr_t cost_constraint(Implicit::create(
220	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cost, ComparisonTypes_t(f->outputDerivativeSize(), Equality)));
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	this->solver.add(f_constraint, 0);
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	this->solver.add(cost_constraint, 1);
223			// this->solver.add(cost, 0);
224		1	this->solver.lastIsOptional(true);
225	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.	1	BOOST_CHECK(this->solver.numberStacks() == 2);
226		1	}
227
228		6	vector_t optimize(value_type x0, value_type x1) {
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230		6	this->solver.lastIsOptional(false);
231	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	6	this->solver.solve(x, this->ls);
232		6	this->solver.lastIsOptional(true);
233		6	return x;
234			}
235			};
236
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238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix_t A(1, 2);
239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	A << 1, 1;
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix_t B(2, 2);
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242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_affine_opt<> test(A, B);
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0, 0);
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0.1, 0);
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0, 0.1);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test.success(0.5, 0.5);
248
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251	21/42 ✓ Branch 1 taken 1 times. ✗ Branch 2 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. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 1 times. ✗ Branch 45 not taken. ✓ Branch 47 taken 1 times. ✗ Branch 48 not taken. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✓ Branch 60 taken 1 times. ✗ Branch 61 not taken. ✓ Branch 63 taken 1 times. ✗ Branch 64 not taken. ✗ Branch 78 not taken. ✓ Branch 79 taken 1 times.	2	EIGEN_VECTOR_IS_APPROX(test.optimize(0.5, 0.5), VECTOR2(0.5, 0.5));
252		2	}
253
254			// build an implicit constraint with values in SE3 and with non trivial mask
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256			struct Identity : public DifferentiableFunction {
257		2	static DifferentiableFunctionPtr_t create() {
258	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	2	return DifferentiableFunctionPtr_t(new Identity());
259			}
260	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	2	Identity() : DifferentiableFunction(7, 6, LiegroupSpace::R3xSO3()) {}
261		4	virtual void impl_compute(LiegroupElementRef result,
262			vectorIn_t argument) const {
263		4	result.vector() = argument;
264			}
265
266		✗	virtual void impl_jacobian(matrixOut_t jacobian, vectorIn_t) const {
267		✗	jacobian.setIdentity();
268			}
269
270		14	bool isEqual(const DifferentiableFunction& other) const {
271	1/2 ✓ Branch 0 taken 14 times. ✗ Branch 1 not taken.	14	dynamic_cast<const Identity&>(other);
272	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 14 times.	14	if (!DifferentiableFunction::isEqual(other)) return false;
273
274		14	return true;
275			}
276			}; // class Identity
277	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	solver::HierarchicalIterative solver(LiegroupSpace::R3xSO3());
278		2	solver.maxIterations(20);
279		2	solver.errorThreshold(1e-10);
280	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> mask{true, true, false, false, false, true};
281	4/8 ✓ 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.	4	ImplicitPtr_t c1(Implicit::create(Identity::create(), 6 * Equality, mask));
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283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solver.add(c1, 0);
284			try {
285	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 1 times.	2	solver.add(c2, 0);
286		✗	BOOST_CHECK(false);
287	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times.	2	} catch (const std::logic_error& err) {
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289			std::string("Contraint \"\" already in solver"));
290		2	}
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t q(7);
292	7/14 ✓ 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. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken.	2	q << 1, 2, 3, .5, .5, .5, .5;
293	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	solver.rightHandSideFromConfig(q);
294			bool found;
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t error(6);
296	4/8 ✓ 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.	2	std::cout << "q=" << q.transpose() << std::endl;
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298	9/18 ✓ 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 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(solver.isConstraintSatisfied(c1, q, error, found));
299	4/8 ✓ 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.	2	std::cout << "error=" << error.transpose() << std::endl;
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301	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(error.norm() < 1e-10);
302	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << solver << std::endl;
303	7/14 ✓ 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. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken.	2	q << 0, 0, 0, 0, 0, 0, 1;
304	4/8 ✓ 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.	2	std::cout << "q=" << q.transpose() << std::endl;
305	9/18 ✓ 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 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(!solver.isConstraintSatisfied(c1, q, error, found));
306	4/8 ✓ 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.	2	std::cout << "error=" << error.transpose() << std::endl;
307		2	}
308