GCC Code Coverage Report

Directory:	./
File:	tests/explicit-relative-transformation.cc
Date:	2025-03-10 11:18:21

	Exec	Total	Coverage
Lines:	222	222	100.0%
Branches:	678	1342	50.5%

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 ExplicitRelativeTransformationTest
30			#include <../tests/util.hh>
31			#include <boost/test/included/unit_test.hpp>
32			#include <pinocchio/fwd.hpp>
33
34			// Force benchmark output
35			#define HPP_ENABLE_BENCHMARK 1
36			#include <hpp/constraints/differentiable-function.hh>
37			#include <hpp/constraints/explicit/relative-pose.hh>
38			#include <hpp/constraints/generic-transformation.hh>
39			#include <hpp/constraints/matrix-view.hh>
40			#include <hpp/core/configuration-shooter/uniform.hh>
41			#include <hpp/core/fwd.hh>
42			#include <hpp/pinocchio/configuration.hh>
43			#include <hpp/pinocchio/joint.hh>
44			#include <hpp/pinocchio/liegroup.hh>
45			#include <hpp/pinocchio/simple-device.hh>
46			#include <hpp/pinocchio/urdf/util.hh>
47			#include <hpp/util/timer.hh>
48
49			using namespace hpp::pinocchio;
50			using namespace hpp::constraints;
51			using namespace hpp::core;
52
53			#define NB_RANDOM_CONF 2
54
55			const value_type test_precision = 1e-8;
56
57		3	DevicePtr_t createRobot() {
58			// DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidRomeo, "romeo");
59	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken.	6	DevicePtr_t robot(Device::create("2-objects"));
60	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 3 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken.	3	urdf::loadModel(robot, 0, "obj1/", "freeflyer",
61			"file://" DATA_DIR "/empty.urdf", "");
62	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->lowerBound(0, -10);
63	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->lowerBound(1, -10);
64	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->lowerBound(2, -10);
65	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->upperBound(0, 10);
66	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->upperBound(1, 10);
67	2/4 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	3	robot->rootJoint()->upperBound(2, 10);
68
69			/// Add a freeflyer at the end.
70	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 3 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken.	3	urdf::loadModel(robot, 0, "obj2/", "freeflyer",
71			"file://" DATA_DIR "/empty.urdf", "");
72	2/4 ✓ Branch 3 taken 3 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken.	6	JointPtr_t rj = robot->getJointByName("obj2/root_joint");
73	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->lowerBound(0, -10);
74	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->lowerBound(1, -10);
75	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->lowerBound(2, -10);
76	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->upperBound(0, 10);
77	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->upperBound(1, 10);
78	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	3	rj->upperBound(2, 10);
79
80		6	return robot;
81		3	}
82
83			template <typename T>
84			inline typename T::template NRowsBlockXpr<3>::Type trans(
85			const Eigen::MatrixBase<T>& j) {
86			return const_cast<Eigen::MatrixBase<T>&>(j).derived().template topRows<3>();
87			}
88			template <typename T>
89			inline typename T::template NRowsBlockXpr<3>::Type omega(
90			const Eigen::MatrixBase<T>& j) {
91			return const_cast<Eigen::MatrixBase<T>&>(j)
92			.derived()
93			.template bottomRows<3>();
94			}
95
96	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(two_freeflyers) {
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t robot = createRobot();
98	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_REQUIRE(robot);
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
100
101	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
102	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object1 = robot->getJointByName("obj1/root_joint");
103
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M2inO2(Transform3s::Identity());
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M1inO1(Transform3s::Identity());
106
107	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.	6	ExplicitPtr_t enm(explicit_::RelativePose::create(
108			"explicit_relative_transformation", robot, object1, object2, M1inO1,
109		6	M2inO2, 6 * Equality));
110		2	DifferentiableFunctionPtr_t ert(enm->explicitFunction());
111
112	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	Configuration_t q = robot->currentConfiguration(), qrand = cs->shoot(),
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qout = qrand;
114
115			// Check the output value
116	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices outConf(enm->outputConf());
117	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices inConf(enm->inputConf());
118
119			// Compute position of object2 by solving explicit constraints
120	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	LiegroupElement q_obj2(ert->outputSpace());
121	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t q_obj1(inConf.rview(qout).eval());
122	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	ert->value(q_obj2, q_obj1);
123	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	outConf.lview(qout) = q_obj2.vector();
124
125			// Test that at solution configuration, object2 and robot frames coincide.
126	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot->currentConfiguration(qout);
127	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->computeForwardKinematics(JOINT_POSITION);
128	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s diff = M1inO1.inverse() *
129	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.	6	object1->currentTransformation().inverse() *
130	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	object2->currentTransformation() * M2inO2;
131
132	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 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 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(diff.isIdentity());
133
134			// Check Jacobian of implicit numerical constraints by finite difference
135			//
136		2	value_type dt(1e-5);
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Configuration_t q0(qout);
138	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vector_t v(robot->numberDof());
139	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	matrix_t J(6, enm->function().inputDerivativeSize());
140	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	LiegroupElement value0(enm->function().outputSpace()),
141	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	value(enm->function().outputSpace());
142	3/6 ✓ 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.	2	enm->function().value(value0, q0);
143	3/6 ✓ 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.	2	enm->function().jacobian(J, q0);
144	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 << "J=" << std::endl << J << std::endl;
145	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 << "q0=" << q0.transpose() << std::endl;
146			// First at solution configuration
147	2/2 ✓ Branch 0 taken 12 times. ✓ Branch 1 taken 1 times.	26	for (size_type i = 0; i < 12; ++i) {
148			// test canonical basis vectors
149	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	v.setZero();
150	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	v[i] = 1;
151	5/10 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 12 times. ✗ Branch 14 not taken.	24	integrate(robot, q0, dt * v, q);
152	3/6 ✓ Branch 3 taken 12 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 12 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 12 times. ✗ Branch 10 not taken.	24	enm->function().value(value, q);
153	3/6 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken.	24	vector_t df((value - value0) / dt);
154	2/4 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken.	24	vector_t Jdq(J * v);
155	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "v=" << v.transpose() << std::endl;
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158	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "Jdq=" << Jdq.transpose() << std::endl;
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160	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	<< std::endl;
161	8/16 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 12 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 12 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 12 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 12 times.	24	BOOST_CHECK((df - Jdq).norm() < 1e-4);
162		24	}
163			// Second at random configurations
164	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_type i = 0; i < NB_RANDOM_CONF; ++i) {
165	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	q0 = cs->shoot();
166	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.	4	enm->function().jacobian(J, q0);
167	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	std::cout << "J=" << std::endl << J << std::endl;
168	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	std::cout << "q0=" << q0.transpose() << std::endl;
169	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.	4	enm->function().value(value0, q0);
170	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.	4	enm->function().jacobian(J, q0);
171	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 2 times.	52	for (size_type j = 0; j < 12; ++j) {
172	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v.setZero();
173	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v[j] = 1;
174	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "v=" << v.transpose() << std::endl;
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177	3/6 ✓ Branch 3 taken 24 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 24 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 24 times. ✗ Branch 10 not taken.	48	enm->function().value(value, q);
178	3/6 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken.	48	vector_t df((value - value0) / dt);
179	2/4 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken.	48	vector_t Jdq(J * v);
180	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "df=" << df.transpose() << std::endl;
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183	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	<< std::endl;
184	8/16 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 24 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 24 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 24 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 24 times.	48	BOOST_CHECK((df - Jdq).norm() < 1e-4);
185		48	}
186	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	std::cout << std::endl;
187			}
188		2	}
189
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191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t robot = createRobot();
192	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(robot);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
194
195	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
196	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object1 = robot->getJointByName("obj1/root_joint");
197
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M2inO2(Transform3s::Random());
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M1inO1(Transform3s::Random());
200
201	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	std::cout << "M2inO2=" << M2inO2 << std::endl;
202	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	std::cout << "M1inO1=" << M1inO1 << std::endl;
203
204	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.	6	ExplicitPtr_t enm(explicit_::RelativePose::create(
205			"explicit_relative_transformation", robot, object1, object2, M1inO1,
206		6	M2inO2, 6 * Equality));
207		2	DifferentiableFunctionPtr_t ert(enm->explicitFunction());
208
209	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	Configuration_t q = robot->currentConfiguration(), qrand = cs->shoot(),
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qout = qrand;
211
212			// Check the output value
213	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices outConf(enm->outputConf());
214	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices inConf(enm->inputConf());
215
216			// Compute position of object2 by solving explicit constraints
217	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	LiegroupElement q_obj2(ert->outputSpace());
218	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t q_obj1(inConf.rview(qout).eval());
219	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	ert->value(q_obj2, q_obj1);
220	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	outConf.lview(qout) = q_obj2.vector();
221
222			// Test that at solution configuration, object2 and robot frames coincide.
223	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot->currentConfiguration(qout);
224	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->computeForwardKinematics(JOINT_POSITION);
225	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s diff = M1inO1.inverse() *
226	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.	6	object1->currentTransformation().inverse() *
227	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	object2->currentTransformation() * M2inO2;
228
229	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 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 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(diff.isIdentity());
230
231			// Check Jacobian of implicit numerical constraints by finite difference
232			//
233		2	value_type dt(1e-5);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Configuration_t q0(qout);
235	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vector_t v(robot->numberDof());
236	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	matrix_t J(6, enm->function().inputDerivativeSize());
237	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	LiegroupElement value0(enm->function().outputSpace()),
238	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	value(enm->function().outputSpace());
239	3/6 ✓ 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.	2	enm->function().value(value0, q0);
240	3/6 ✓ 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.	2	enm->function().jacobian(J, q0);
241	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 << "J=" << std::endl << J << std::endl;
242	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 << "q0=" << q0.transpose() << std::endl;
243			// First at solution configuration
244	2/2 ✓ Branch 0 taken 12 times. ✓ Branch 1 taken 1 times.	26	for (size_type i = 0; i < 12; ++i) {
245			// test canonical basis vectors
246	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	v.setZero();
247	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	v[i] = 1;
248	5/10 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 12 times. ✗ Branch 14 not taken.	24	integrate(robot, q0, dt * v, q);
249	3/6 ✓ Branch 3 taken 12 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 12 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 12 times. ✗ Branch 10 not taken.	24	enm->function().value(value, q);
250	3/6 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken.	24	vector_t df((value - value0) / dt);
251	2/4 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken.	24	vector_t Jdq(J * v);
252	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "v=" << v.transpose() << std::endl;
253	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "q=" << q.transpose() << std::endl;
254	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "df=" << df.transpose() << std::endl;
255	4/8 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken.	24	std::cout << "Jdq=" << Jdq.transpose() << std::endl;
256	5/10 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 12 times. ✗ Branch 14 not taken.	48	std::cout << "\|\|Jdq - df \|\|=" << (df - Jdq).norm() << std::endl
257	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	<< std::endl;
258	8/16 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 12 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 12 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 12 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 12 times.	24	BOOST_CHECK((df - Jdq).norm() < 1e-4);
259		24	}
260			// Second at random configurations
261	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_type i = 0; i < NB_RANDOM_CONF; ++i) {
262	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	q0 = cs->shoot();
263	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.	4	enm->function().jacobian(J, q0);
264	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	std::cout << "J=" << std::endl << J << std::endl;
265	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	std::cout << "q0=" << q0.transpose() << std::endl;
266	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.	4	enm->function().value(value0, q0);
267	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.	4	enm->function().jacobian(J, q0);
268	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 2 times.	52	for (size_type j = 0; j < 12; ++j) {
269	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v.setZero();
270	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v[j] = 1;
271	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "v=" << v.transpose() << std::endl;
272	5/10 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 24 times. ✗ Branch 14 not taken.	48	integrate(robot, q0, dt * v, q);
273	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "q=" << q.transpose() << std::endl;
274	3/6 ✓ Branch 3 taken 24 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 24 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 24 times. ✗ Branch 10 not taken.	48	enm->function().value(value, q);
275	3/6 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken.	48	vector_t df((value - value0) / dt);
276	2/4 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken.	48	vector_t Jdq(J * v);
277	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "df=" << df.transpose() << std::endl;
278	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken.	48	std::cout << "Jdq=" << Jdq.transpose() << std::endl;
279	5/10 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 24 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 24 times. ✗ Branch 14 not taken.	96	std::cout << "\|\|Jdq - df \|\|=" << (df - Jdq).norm() << std::endl
280	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	<< std::endl;
281	8/16 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 24 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 24 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 24 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 24 times.	48	BOOST_CHECK((df - Jdq).norm() < 1e-4);
282		48	}
283	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	4	std::cout << std::endl;
284			}
285		2	}
286
287	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(compare_to_relative_transform) {
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t robot = createRobot();
289	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(robot);
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
291
292	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
293	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	JointPtr_t object1 = robot->getJointByName("obj1/root_joint");
294
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M2inO2(Transform3s::Random());
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s M1inO1(Transform3s::Random());
297
298	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("M2inO2=" << M2inO2);
299	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("M1inO1=" << M1inO1);
300
301	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.	6	ExplicitPtr_t enm(explicit_::RelativePose::create(
302			"explicit_relative_transformation", robot, object1, object2, M1inO1,
303		6	M2inO2, 6 * Equality));
304		2	DifferentiableFunctionPtr_t ert(enm->explicitFunction());
305		2	DifferentiableFunctionPtr_t irt = enm->functionPtr();
306			RelativeTransformationR3xSO3::Ptr_t rt(RelativeTransformationR3xSO3::create(
307			"relative_transformation_R3xSO3", robot, object1, object2, M1inO1,
308	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	M2inO2));
309
310	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	Configuration_t q = robot->currentConfiguration(), qrand = cs->shoot(),
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qout = qrand;
312
313			// Check the output value
314	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices outConf(enm->outputConf());
315	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::RowBlockIndices inConf(enm->inputConf());
316
317			// Compute position of object2 by solving explicit constraints
318	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	LiegroupElement q_obj2(ert->outputSpace());
319	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t q_obj1(inConf.rview(qout).eval());
320	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	ert->value(q_obj2, q_obj1);
321	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	outConf.lview(qout) = q_obj2.vector();
322
323			// Test that at solution configuration, object2 and robot frames coincide.
324	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	robot->currentConfiguration(qout);
325	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->computeForwardKinematics(JOINT_POSITION);
326	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Transform3s diff = M1inO1.inverse() *
327	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.	6	object1->currentTransformation().inverse() *
328	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	object2->currentTransformation() * M2inO2;
329
330	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 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 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(diff.isIdentity());
331
332			// Check that value and Jacobian of relative transform from
333			// GenericTransformation and from ExplicitRelativeTransformation are equal
334
335	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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(irt->inputSize(), rt->inputSize());
336	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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(irt->inputDerivativeSize(), rt->inputDerivativeSize());
337	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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(irt->outputSize(), rt->outputSize());
338	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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(irt->outputDerivativeSize(), rt->outputDerivativeSize());
339	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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(irt->outputSpace(), rt->outputSpace());
340
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Configuration_t q0(qout);
342	4/8 ✓ 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.	4	LiegroupElement v0(rt->outputSpace()), v1(v0), q_out(q_obj2), q_in(q_obj2);
343	2/4 ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	matrix_t J0(rt->outputSpace()->nv(), rt->inputDerivativeSize()), J1(J0);
344
345	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	irt->value(v0, q0);
346	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	irt->jacobian(J0, q0);
347	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	rt->value(v1, q0);
348	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	rt->jacobian(J1, q0);
349
350	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(log(v0).isZero(test_precision));
351	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(log(v1).isZero(test_precision));
352	11/22 ✓ 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 40 not taken. ✓ Branch 41 taken 1 times.	2	EIGEN_IS_APPROX(J0, J1, test_precision);
353
354			// Second at random configurations
355	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_type i = 0; i < NB_RANDOM_CONF; ++i) {
356	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	4	q0 = cs->shoot();
357
358	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.	4	irt->value(v0, q0);
359	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.	4	irt->jacobian(J0, q0);
360	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.	4	rt->value(v1, q0);
361	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.	4	rt->jacobian(J1, q0);
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363	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(J0, J1, test_precision);
364			}
365		2	}
366