GCC Code Coverage Report

Directory:	./
File:	tests/spline-path.cc
Date:	2025-03-10 11:18:21

	Exec	Total	Coverage
Lines:	183	189	96.8%
Branches:	743	1480	50.2%

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 spline_path
30			#include <../tests/util.hh>
31			#include <boost/test/included/unit_test.hpp>
32			#include <hpp/core/path/hermite.hh>
33			#include <hpp/core/path/spline.hh>
34			#include <hpp/core/problem.hh>
35			#include <hpp/core/steering-method/spline.hh>
36			#include <hpp/core/steering-method/straight.hh>
37			#include <hpp/pinocchio/configuration.hh>
38			#include <hpp/pinocchio/joint-collection.hh>
39			#include <hpp/pinocchio/joint.hh>
40			#include <hpp/pinocchio/liegroup.hh>
41			#include <hpp/pinocchio/simple-device.hh>
42			#include <hpp/pinocchio/urdf/util.hh>
43			#include <pinocchio/algorithm/joint-configuration.hpp>
44			#include <pinocchio/fwd.hpp>
45
46			#define TOSTR(x) \
47			static_cast<std::ostringstream&>((std::ostringstream() << x)).str()
48
49			using namespace hpp::core;
50			using namespace hpp::pinocchio;
51
52		5	DevicePtr_t createNDoFRobot(int ndof) {
53	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	std::ostringstream oss;
54			oss << "<robot name='test'>"
55	2/4 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 5 times. ✗ Branch 5 not taken.	5	<< "<link name='link0'/>";
56	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 5 times.	10	for (int i = 0; i < ndof; ++i) {
57	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	oss << "<joint name='joint" << i << "' type='prismatic'>"
58	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.	5	<< "<parent link='link" << i << "'/>"
59	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.	5	<< "<child link='link" << i + 1 << "'/>"
60			<< "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
61			<< "</joint>"
62	7/14 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 5 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 5 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 5 times. ✗ Branch 20 not taken.	5	<< "<link name='link" << i + 1 << "'/>";
63			}
64	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	oss << "</robot>";
65	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	std::string urdf(oss.str());
66
67	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	10	DevicePtr_t robot = Device::create("test");
68	5/10 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 5 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 5 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 5 times. ✗ Branch 17 not taken.	5	urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
69		10	return robot;
70		5	}
71
72		2	DevicePtr_t createRobot() {
73	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidRomeo);
74	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(0, -1);
75	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(1, -1);
76	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(2, -1);
77	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(0, 1);
78	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(1, 1);
79	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 2 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(2, 1);
80		2	return robot;
81			}
82
83		4	DevicePtr_t createRobotArm() {
84	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	8	DevicePtr_t robot = unittest::makeDevice(unittest::ManipulatorArm2);
85		4	return robot;
86			}
87
88			typedef std::pair<value_type, value_type> Pair_t;
89
90		✗	std::ostream& operator<<(std::ostream& os, const Pair_t& p) {
91		✗	os << "Pair " << p.first << ", " << p.second;
92		✗	return os;
93			}
94
95		✗	void printAt(const PathPtr_t& p, ConfigurationOut_t q, value_type t) {
96		✗	p->eval(q, t);
97		✗	std::cout << t << ":\t" << q.transpose() << std::endl;
98			}
99		10	void checkAt(const PathPtr_t orig, value_type to, const PathPtr_t extr,
100			value_type te) {
101	2/4 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken.	10	Configuration_t q1(orig->outputSize()), q2(orig->outputSize());
102	2/4 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken.	10	orig->eval(q1, to);
103	2/4 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken.	10	extr->eval(q2, te);
104	14/28 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 10 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 10 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 10 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 10 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 10 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 10 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 10 times. ✗ Branch 32 not taken. ✓ Branch 35 taken 10 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 10 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 10 times. ✗ Branch 42 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 10 times.	10	BOOST_CHECK_MESSAGE(q2.isApprox(q1),
105			"\nPath 1: " << q1.head<10>().transpose() << "\nPath 2: "
106			<< q2.head<10>().transpose());
107		10	}
108
109			template <int SplineType>
110		1	void compare_to_straight_path() {
111			typedef path::Spline<SplineType, 1> path_t;
112			typedef steeringMethod::Spline<SplineType, 1> SM_t;
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	DevicePtr_t dev = createRobot();
115	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.	1	BOOST_REQUIRE(dev);
116	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	ProblemPtr_t problem = Problem::create(dev);
117
118	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
119	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
120
121	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	vector_t v(dev->numberDof());
122	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.	1	difference<RnxSOnLieGroupMap>(dev, q2, q1, v);
123
124			// create StraightPath
125	3/6 ✓ 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	PathPtr_t sp = (*problem->steeringMethod())(q1, q2);
126			// value_type length = sp->length();
127
128			// Create linear spline
129	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	typename SM_t::Ptr_t sm(SM_t::create(problem));
130	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	PathPtr_t ls_abstract = (*sm)(q1, q2);
131		1	typename path_t::Ptr_t ls = HPP_DYNAMIC_PTR_CAST(path_t, ls_abstract);
132
133			/*
134			typename path_t::Ptr_t ls = path_t::create (dev, interval_t(0, length),
135			ConstraintSetPtr_t()); ls->base (q1); typename path_t::ParameterMatrix_t
136			ls_param = ls->parameters(); ls_param.row(0).setZero(); ls_param.row(1) = v;
137			ls->parameters(ls_param);
138			*/
139
140	19/38 ✓ 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 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 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 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 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 56 taken 1 times. ✗ Branch 57 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✗ Branch 74 not taken. ✓ Branch 75 taken 1 times.	1	CONFIGURATION_VECTOR_IS_APPROX(dev, sp->initial(), ls->initial(), 1e-7);
141	19/38 ✓ 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 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 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 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 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 56 taken 1 times. ✗ Branch 57 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✗ Branch 74 not taken. ✓ Branch 75 taken 1 times.	1	CONFIGURATION_VECTOR_IS_APPROX(dev, sp->end(), ls->end(), 1e-7);
142
143		1	const size_type N = 10;
144	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	const value_type step1 = sp->length() / N;
145	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	const value_type step2 = ls->length() / N;
146
147			// Check that straight path and linear spline return the same result.
148	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	11	for (size_type i = 0; i < N; ++i)
149	1/2 ✓ Branch 3 taken 10 times. ✗ Branch 4 not taken.	10	checkAt(sp, value_type(i) * step1, ls, value_type(i) * step2);
150
151			// Check that the velocities are equals
152	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	vector_t v1(dev->numberDof());
153	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	vector_t v2(dev->numberDof());
154	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	11	for (size_type i = 0; i < N; ++i) {
155	2/4 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken.	10	sp->derivative(v1, value_type(i) * step1, 1);
156	2/4 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken.	10	ls->derivative(v2, value_type(i) * step2, 1);
157	9/18 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 10 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 10 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 10 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 10 times.	10	BOOST_CHECK_SMALL((v2 * step2 - v1 * step1).squaredNorm(), 1e-12);
158			}
159
160			// Check integral value
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162	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	1	BOOST_CHECK_CLOSE(ls->squaredNormIntegral(1), v.squaredNorm() / sp->length(),
163			1e-12);
164
165	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	vector_t derivative(dev->numberDof() * 2);
166	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	ls->squaredNormIntegralDerivative(1, derivative);
167			switch (SplineType) {
168			case path::CanonicalPolynomeBasis:
169			BOOST_CHECK(derivative.head(dev->numberDof()).isZero());
170			EIGEN_VECTOR_IS_APPROX(derivative.tail(dev->numberDof()),
171			(2. / sp->length()) * v, 1e-6);
172			break;
173		1	case path::BernsteinBasis:
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175			(-2. / sp->length()) * v, 1e-6);
176	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 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 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 39 taken 1 times. ✗ Branch 40 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 56 taken 1 times. ✗ Branch 57 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 74 not taken. ✓ Branch 75 taken 1 times.	1	EIGEN_VECTOR_IS_APPROX(derivative.tail(dev->numberDof()),
177			(2. / sp->length()) * v, 1e-6);
178		1	break;
179			}
180		1	}
181
182			template <int SplineType, int Degree>
183		1	void check_velocity_bounds() {
184			typedef steeringMethod::Spline<SplineType, Degree> SM_t;
185
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	DevicePtr_t dev = createRobot();
187	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.	1	BOOST_REQUIRE(dev);
188	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	ProblemPtr_t problem = Problem::create(dev);
189
190	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
191	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	1	Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
192	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	std::vector<int> orders(1, 1);
193	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.	1	vector_t v1(vector_t::Random(dev->numberDof())),
194	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.	1	v2(vector_t::Random(dev->numberDof()));
195
196			// Create spline
197	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	typename SM_t::Ptr_t sm(SM_t::create(problem));
198	7/14 ✓ 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. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken.	2	PathPtr_t spline = sm->steer(q1, orders, v1, q2, orders, v2);
199
200	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.	1	vector_t vb1(-vector_t::Ones(dev->numberDof())), vb2 = vb1;
201		1	value_type t0 = spline->timeRange().first, t1 = spline->timeRange().second;
202	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	spline->velocityBound(vb1, t0, t1);
203
204	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 31 not taken. ✓ Branch 32 taken 1 times.	1	BOOST_CHECK((vb1.array() >= 0).all());
205
206		1	std::size_t N = 1000;
207	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	value_type step = spline->length() / value_type(N);
208	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	1001	for (std::size_t i = 0; i < N; ++i) {
209	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	1000	vb2.setConstant(-1);
210	2/4 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken.	1000	spline->velocityBound(vb2, t0, t1);
211	9/18 ✓ 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 26 taken 1000 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1000 times.	1000	BOOST_CHECK((vb2.array() >= 0).all());
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213			(vb2.array() <= vb1.array()).all(),
214			"i=" << i << " Velocity bound should have decreased. Interval is ["
215			<< t0 << ", " << t1 << "]. Difference:\n"
216			<< (vb1 - vb2).transpose());
217	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	1000	vb1 = vb2;
218	2/2 ✓ Branch 0 taken 500 times. ✓ Branch 1 taken 500 times.	1000	if (i % 2) {
219		500	t0 += step;
220			} else {
221		500	t1 -= step;
222			}
223			}
224		1	}
225
226			template <int SplineType, int Degree, int order>
227		6	void check_steering_method() {
228			typedef steeringMethod::Spline<SplineType, Degree> SM_t;
229	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	10	std::vector<int> orders{1};
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	if (order == 2) orders.push_back(2);
231
232			// Use the manipulator arm and not Romeo since steering method does not give
233			// correct values for vel/acc when the robot configuration contains a
234			// freeflyer
235	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	DevicePtr_t dev = createRobotArm();
236	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 3 times.	6	BOOST_REQUIRE(dev);
237	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	6	ProblemPtr_t problem = Problem::create(dev);
238
239			// Create random configurations and velocities/accelerations
240	1/2 ✓ Branch 3 taken 3 times. ✗ Branch 4 not taken.	6	Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
241	1/2 ✓ Branch 3 taken 3 times. ✗ Branch 4 not taken.	6	Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
242	3/6 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 3 times. ✗ Branch 9 not taken.	6	matrix_t deriv1(matrix_t::Random(dev->numberDof(), order)),
243	3/6 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 3 times. ✗ Branch 9 not taken.	6	deriv2(matrix_t::Random(dev->numberDof(), order));
244		6	double length = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
245
246			// Create spline
247	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	6	typename SM_t::Ptr_t sm(SM_t::create(problem));
248	7/14 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 3 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken.	12	PathPtr_t spline1 = sm->steer(q1, orders, deriv1, q2, orders, deriv2, length);
249
250			// Check length
251	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	6	double spline_length = spline1->length();
252	9/18 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 3 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 3 times. ✗ Branch 27 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 3 times.	6	BOOST_CHECK_MESSAGE(abs(spline_length - length) < 0.0001,
253			"Path does not have desired length: "
254			<< spline_length << " instead of " << length);
255
256			// Check configuration at start/end
257	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	6	Configuration_t spline_q1 = spline1->initial();
258	1/2 ✓ Branch 2 taken 3 times. ✗ Branch 3 not taken.	6	Configuration_t spline_q2 = spline1->end();
259	13/26 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 3 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 3 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 3 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 3 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 3 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 3 times. ✗ Branch 38 not taken. ✗ Branch 46 not taken. ✓ Branch 47 taken 3 times.	6	EIGEN_VECTOR_IS_APPROX(q1, spline_q1, 1e-6);
260	13/26 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 3 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 3 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 3 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 3 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 3 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 3 times. ✗ Branch 38 not taken. ✗ Branch 46 not taken. ✓ Branch 47 taken 3 times.	6	EIGEN_VECTOR_IS_APPROX(q2, spline_q2, 1e-6);
261
262			// Check derivatives at start/end
263	2/2 ✓ Branch 2 taken 4 times. ✓ Branch 3 taken 3 times.	14	for (int i = 1; i <= order; i++) {
264	3/6 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 4 times. ✗ Branch 9 not taken.	8	vector_t spline_v1(vector_t::Random(dev->numberDof())),
265	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	spline_v2 = spline_v1;
266	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	8	spline1->derivative(spline_v1, 0, i);
267	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	8	spline1->derivative(spline_v2, spline_length, i);
268	15/30 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 4 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 4 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 4 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 4 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 4 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 4 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 4 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 4 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 4 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 4 times. ✗ Branch 44 not taken. ✗ Branch 52 not taken. ✓ Branch 53 taken 4 times.	8	EIGEN_VECTOR_IS_APPROX(deriv1.col(i - 1), spline_v1, 1e-6);
269	15/30 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 4 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 4 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 4 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 4 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 4 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 4 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 4 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 4 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 4 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 4 times. ✗ Branch 44 not taken. ✗ Branch 52 not taken. ✓ Branch 53 taken 4 times.	8	EIGEN_VECTOR_IS_APPROX(deriv2.col(i - 1), spline_v2, 1e-6);
270			}
271		6	}
272
273	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(spline_bernstein) {
274		2	compare_to_straight_path<path::BernsteinBasis>();
275		2	}
276
277		5	void check_bernstein_polynomial_3rd(value_type p0, value_type p1, value_type p2,
278			value_type p3) {
279			// Degree 3
280			typedef path::Spline<path::BernsteinBasis, 3> path_t;
281
282	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	DevicePtr_t dev = createNDoFRobot(1);
283	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	vector_t q0(1);
284	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	q0 << 0.0;
285	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	path_t::ParameterMatrix_t m(4, 1);
286	4/8 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken.	5	m << p0, p1, p2, p3;
287			bool ok;
288
289	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	10	ConstraintSetPtr_t constraint = ConstraintSet::create(dev, "empty");
290	1/2 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken.	5	path_t::Ptr_t path = path_t::create(dev, interval_t(0, 1), constraint);
291	1/2 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken.	5	path->base(q0);
292	1/2 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken.	5	path->parameters(m);
293
294			// evaluation
295	9/18 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 5 times. ✗ Branch 19 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 5 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 5 times.	5	BOOST_CHECK_CLOSE(path->eval(0.0, ok)[0], m(0, 0), 1e-8);
296	12/24 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 5 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 5 times. ✗ Branch 28 not taken. ✓ Branch 32 taken 5 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 5 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 5 times.	5	BOOST_CHECK_CLOSE(path->eval(0.5, ok)[0],
297			0.125 * (m(0, 0) + 3 * m(1, 0) + 3 * m(2, 0) + m(3, 0)),
298			1e-8);
299	9/18 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 5 times. ✗ Branch 19 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 5 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 5 times.	5	BOOST_CHECK_CLOSE(path->eval(1.0, ok)[0], m(3, 0), 1e-8);
300
301			// derivative
302	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	vector_t der(1);
303	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->derivative(der, 0.0, ok);
304	9/18 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 5 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 5 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 5 times.	5	BOOST_CHECK_CLOSE(der[0], 3 * (-m(0, 0) + m(1, 0)), 1e-8);
305	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->derivative(der, 0.5, ok);
306	11/22 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 5 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 5 times. ✗ Branch 32 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 5 times.	5	BOOST_CHECK_CLOSE(der[0], 3 * (-m(0, 0) - m(1, 0) + m(2, 0) + m(3, 0)) / 4,
307			1e-8);
308	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->derivative(der, 1.0, ok);
309	9/18 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 5 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 5 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 5 times.	5	BOOST_CHECK_CLOSE(der[0], 3 * (-m(2, 0) + m(3, 0)), 1e-8);
310
311			// velocity bound
312	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	vector_t vb(1);
313	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	vector_t splineVbounds(4);
314	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->velocityBound(vb, 0.0, 1.0);
315	4/8 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken.	5	splineVbounds << 3, 3, 3, 3;
316	11/22 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 5 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 5 times. ✗ Branch 32 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 5 times.	5	BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
317
318	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->velocityBound(vb, 0.0, 0.5);
319	4/8 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken.	5	splineVbounds << 3, 3, 1, 0.75;
320	11/22 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 5 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 5 times. ✗ Branch 32 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 5 times.	5	BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
321
322	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->velocityBound(vb, 0.5, 1.0);
323	4/8 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken.	5	splineVbounds << 0.75, 1, 3, 3;
324	11/22 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 5 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 5 times. ✗ Branch 32 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 5 times.	5	BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
325
326	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken.	5	path->velocityBound(vb, 0.5, 0.6);
327	4/8 ✓ 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. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken.	5	splineVbounds << 0.75, 0.96, 0.75, 1.08;
328	11/22 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 5 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 5 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 5 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 5 times. ✗ Branch 32 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 5 times.	5	BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
329		5	}
330
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332		2	check_bernstein_polynomial_3rd(1.0, 0.0, 0.0, 0.0);
333		2	check_bernstein_polynomial_3rd(0.0, 1.0, 0.0, 0.0);
334		2	check_bernstein_polynomial_3rd(0.0, 0.0, 1.0, 0.0);
335		2	check_bernstein_polynomial_3rd(0.0, 0.0, 0.0, 1.0);
336
337		2	check_bernstein_polynomial_3rd(1.0, 0.3, 0.4, -0.5);
338		2	}
339
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341		2	check_velocity_bounds<path::BernsteinBasis, 3>();
342		2	}
343
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345		2	check_steering_method<path::BernsteinBasis, 3, 1>();
346		2	check_steering_method<path::BernsteinBasis, 5, 1>();
347		2	check_steering_method<path::BernsteinBasis, 5, 2>();
348		2	}
349
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351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t dev = createRobotArm();
352			ConstraintSetPtr_t constraint =
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354
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356	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 q2(vector_t::Ones(dev->configSize()));
357
358			path::HermitePtr_t path =
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360			bool ok;
361	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	vector_t evaluated = path->eval(path->length(), ok);
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364		2	}
365