GCC Code Coverage Report

Directory:	./
File:	tests/test-kinodynamic.cc
Date:	2025-03-10 11:18:21

	Exec	Total	Coverage
Lines:	428	428	100.0%
Branches:	1946	3854	50.5%

Line	Branch	Exec	Source
1			// Copyright (c) 2016, LAAS-CNRS
2			// Authors: Pierre Fernbach (pierre.fernbach@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 kinodynamic
30
31			#include <../tests/util.hh>
32			#include <boost/assign.hpp>
33			#include <boost/test/included/unit_test.hpp>
34			#include <fstream>
35			#include <hpp/core/configuration-shooter/uniform.hh>
36			#include <hpp/core/connected-component.hh>
37			#include <hpp/core/fwd.hh>
38			#include <hpp/core/joint-bound-validation.hh>
39			#include <hpp/core/kinodynamic-distance.hh>
40			#include <hpp/core/kinodynamic-oriented-path.hh>
41			#include <hpp/core/kinodynamic-path.hh>
42			#include <hpp/core/nearest-neighbor.hh>
43			#include <hpp/core/node.hh>
44			#include <hpp/core/path-validation/discretized-collision-checking.hh>
45			#include <hpp/core/problem.hh>
46			#include <hpp/core/roadmap.hh>
47			#include <hpp/core/steering-method/steering-kinodynamic.hh>
48			#include <hpp/core/weighed-distance.hh>
49			#include <hpp/pinocchio/configuration.hh>
50			#include <hpp/pinocchio/joint.hh>
51			#include <hpp/pinocchio/liegroup.hh>
52			#include <hpp/pinocchio/simple-device.hh>
53			#include <hpp/util/debug.hh>
54			#include <ostream>
55			#include <sstream>
56			#include <vector>
57
58			using namespace hpp::core;
59			using namespace hpp::pinocchio;
60
61			BOOST_AUTO_TEST_SUITE(test_hpp_core)
62
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64	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
65	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(0, -10);
66	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(1, -10);
67	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(2, 0);
68	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(0, 10);
69	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(1, 10);
70	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(2, 0);
71
72	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->setDimensionExtraConfigSpace(6);
73			// define velocity and acceleration bounds
74		2	const double vMax = 2;
75		2	const double aMax = 0.5;
76	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(0) = -vMax;
77	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(1) = -vMax;
78	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(2) = 0;
79	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(0) = vMax;
80	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(1) = vMax;
81	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(2) = 0;
82	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(3) = -aMax;
83	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(4) = -aMax;
84	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(5) = 0;
85	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(3) = aMax;
86	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(4) = aMax;
87	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(5) = 0;
88	6/12 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(robot->extraConfigSpace().dimension() == 6,
89			"error during creation of the robot");
90
91			// Create steering method
92	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ProblemPtr_t p = Problem::create(robot);
93	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	p->setParameter(std::string("Kinodynamic/velocityBound"), Parameter(vMax));
94	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	p->setParameter(std::string("Kinodynamic/accelerationBound"),
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Parameter(aMax));
96
97	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create(p);
98	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
99
100			// try to connect several states : (notation : sx = (px, vx, ax)
101	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Configuration_t q0(robot->currentConfiguration());
102	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Configuration_t q1(robot->currentConfiguration());
103	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	size_t indexECS = robot->configSize() - 6;
104
105			JointBoundValidationPtr_t jointValidation =
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointBoundValidation::create(robot);
107			pathValidation::DiscretizedPtr_t pathVal =
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pathValidation::createDiscretizedCollisionChecking(robot, 0.001);
109	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	pathVal->add(jointValidation);
110		2	PathValidationReportPtr_t validationReport;
111		2	PathPtr_t validPath;
112
113			// 1) simple case with null velocity, require a 2 segment trajectory
114			// px0 = (0,0,0) , px1 = (1,0,0)
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = 0;
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 1;
117	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	PathPtr_t path = (*sm)(q0, q1);
118	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(path);
119		2	KinodynamicPathPtr_t pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
120	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(pathKino);
121
122			// length should be 2.82843
123	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_CLOSE(path->length(), 2.82843, 1e-3);
124	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(path->length(), (*dist)(q0, q1));
125			// check if 2 segment only
126	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getTv()[0], 0.);
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128	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 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 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK_EQUAL(
129			pathKino->getT1()[0] + pathKino->getTv()[0] + pathKino->getT2()[0],
130			path->length());
131
132			// check if no unecessary motion :
133	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 1; i < 3; i++) {
134	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[i], 0.);
135	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT1()[i], 0.);
136	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT2()[i], 0.);
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139			}
140			// check if the trajectory is really bang-bang :
141	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[0], aMax);
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143			// check if bounds are respected :
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145
146			// 2) null velocity but hit velocity bounds, require 3 segments trajectory
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = -2;
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 7;
149	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	path = (*sm)(q0, q1);
150	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(path);
151		2	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
152	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(pathKino);
153
154			// check length
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157			// check if 3 segment
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162	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 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 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK_EQUAL(
163			pathKino->getT1()[0] + pathKino->getTv()[0] + pathKino->getT2()[0],
164			path->length());
165
166			// check if no unecessary motion :
167	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 1; i < 3; i++) {
168	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[i], 0.);
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173			}
174			// check if the trajectory is really bang-bang :
175	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[0], aMax);
176	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getT1()[0], pathKino->getT2()[0]);
177			// check if bounds are respected :
178	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(pathVal->validate(path, false, validPath, validationReport));
179
180			// 3) only velocity change :
181			// px0 = (0,2,0) ; px1 = (0,-1,0)
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = 0;
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[indexECS] = 2;
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 0;
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[indexECS] = -1;
186
187	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	path = (*sm)(q0, q1);
188	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(path);
189		2	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
190	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(pathKino);
191
192			// check length
193	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_CLOSE(path->length(), 8.32456, 1e-3);
194	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(path->length(), (*dist)(q0, q1));
195			// check if 2 segment
196	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT0()[0], 0.);
197	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getT1()[0] > 0);
198	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getTv()[0], 0);
199	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getT2()[0] > 0);
200	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 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 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK_EQUAL(
201			pathKino->getT1()[0] + pathKino->getTv()[0] + pathKino->getT2()[0],
202			path->length());
203
204			// check if no unecessary motion :
205	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 1; i < 3; i++) {
206	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[i], 0.);
207	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT1()[i], 0.);
208	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT2()[i], 0.);
209	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getA1()[i], 0.);
210	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getTv()[i], path->length());
211			}
212			// check if the trajectory is really bang-bang :
213	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[0], -aMax);
214			// check if bounds are respected :
215	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(pathVal->validate(path, false, validPath, validationReport));
216
217			// 4) non null velocity (and sigma == 0)
218			// px0 = (0,1,0) ; px1 = (1,1,0)
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = 0;
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[indexECS] = 1;
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 1;
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[indexECS] = 1;
223
224	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	path = (*sm)(q0, q1);
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 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(path);
226		2	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
227	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(pathKino);
228
229			// check length
230	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_CLOSE(path->length(), 0.89898, 1e-3);
231	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(path->length(), (*dist)(q0, q1));
232			// check if 2 segment
233	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT0()[0], 0.);
234	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getT1()[0] > 0);
235	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getTv()[0], 0);
236	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getT2()[0] > 0);
237	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 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 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK_EQUAL(
238			pathKino->getT1()[0] + pathKino->getTv()[0] + pathKino->getT2()[0],
239			path->length());
240
241			// check if no unecessary motion :
242	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 1; i < 3; i++) {
243	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[i], 0.);
244	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT1()[i], 0.);
245	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT2()[i], 0.);
246	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getA1()[i], 0.);
247	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getTv()[i], path->length());
248			}
249			// check if the trajectory is really bang-bang :
250	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 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_CLOSE(pathKino->getA1()[0], aMax, 1e-3);
251	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getT1()[0], pathKino->getT2()[0]);
252			// check if bounds are respected :
253	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(pathVal->validate(path, false, validPath, validationReport));
254
255			// 5) case with infeasible interval
256			// infeasible interval on x axis is [1.172,6.828] , add a motion on y axis
257			// with a min time inside this interval : py0 = (-2,0,0) py1 = (1,0,0)
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[1] = -2;
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[indexECS + 1] = 0;
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[1] = 1;
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[indexECS + 1] = 0;
262
263	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	path = (*sm)(q0, q1);
264	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(path);
265		2	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
266	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(pathKino);
267
268			// check length
269	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_CLOSE(path->length(), 6.82843, 1e-3);
270			// don't check if distance == length here because the distance method don't
271			// consider infeasile interval It's a arbitrary choice made to speed up the
272			// computation of the distance
273
274			// check if 2 segment
275	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 0; i < 2; i++) {
276	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[0], 0.);
277	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	4	BOOST_CHECK(pathKino->getT1()[i] > 0);
278	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getTv()[i], 0);
279	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	4	BOOST_CHECK(pathKino->getT2()[i] > 0);
280	12/24 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 2 times. ✗ Branch 31 not taken. ✓ Branch 35 taken 2 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 2 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 2 times.	4	BOOST_CHECK_EQUAL(
281			pathKino->getT1()[i] + pathKino->getTv()[i] + pathKino->getT2()[i],
282			path->length());
283			}
284
285			// check if no unecessary motion :
286	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT0()[2], 0.);
287	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT1()[2], 0.);
288	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT2()[2], 0.);
289	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[2], 0.);
290	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getTv()[2], path->length());
291			// check if the trajectory is really bang-bang :
292	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[0], -aMax);
293	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getT1()[0], pathKino->getT2()[0]);
294	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getT1()[1], pathKino->getT2()[1]);
295	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getA1()[1] < aMax);
296	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getA1()[1] > 0);
297
298			// check if bounds are respected :
299	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(pathVal->validate(path, false, validPath, validationReport));
300
301			// ## check extract method
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = -2;
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[indexECS] = 0;
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 7;
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[indexECS] = 0;
306
307	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	path = (*sm)(q0, q1);
308	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(path);
309		2	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
310	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(pathKino);
311
312		2	PathPtr_t extractedPath;
313		2	KinodynamicPathPtr_t extractedPathKino;
314			bool success;
315			// take only beginning of the path (cut during second segment on x and third
316			// segment on y):
317		2	double begin = 0.;
318		2	double end = 4.3;
319	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	extractedPath = path->extract(std::make_pair(begin, end));
320	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(extractedPath);
321		2	extractedPathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, extractedPath);
322	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(extractedPathKino);
323
324	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->length(), end - begin);
325	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->initial(), path->initial());
326	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->end().head(indexECS + 3),
327			path->eval(end, success).head(indexECS + 3));
328			// ignore last 3 extraDof because acceleration is set to 0 in initial/end
329			// configuration
330	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (size_t i = 0; i < 3; i++) {
331	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getA1()[i], pathKino->getA1()[i]);
332	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[i], pathKino->getT0()[i]);
333	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[i], pathKino->getT1()[i]);
334			}
335	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[2], extractedPath->length());
336	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[2], 0);
337	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[0],
338			end - extractedPathKino->getT1()[0]);
339	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[0], 0);
340	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getTv()[1], 0);
341	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT2()[1],
342			end - extractedPathKino->getT1()[1]);
343
344			// take only beginning of the path (cut during first segment on both axis):
345		2	begin = 0.;
346		2	end = 3.;
347	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	extractedPath = path->extract(std::make_pair(begin, end));
348	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(extractedPath);
349		2	extractedPathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, extractedPath);
350	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(extractedPathKino);
351
352	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->length(), end - begin);
353	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->initial(), path->initial());
354	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(
355			extractedPath->end().head(indexECS + 3),
356			path->eval(end, success)
357			.head(indexECS + 3)); // ignore last 3 extraDof because acceleration
358			// is set to 0 in initial/end configuration
359	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (size_t i = 0; i < 3; i++) {
360	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getA1()[i], pathKino->getA1()[i]);
361	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[i], pathKino->getT0()[i]);
362	7/14 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT2()[i], 0.);
363			}
364	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT1()[2], 0);
365	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[2], extractedPath->length());
366	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[2], 0);
367	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[0], extractedPath->length());
368	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getTv()[0], 0);
369	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[1], extractedPath->length());
370	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getTv()[1], 0);
371
372			// take only end of the path (cut during first segment)
373		2	begin = 2.;
374	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	end = path->length();
375	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	extractedPath = path->extract(std::make_pair(begin, end));
376	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(extractedPath);
377		2	extractedPathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, extractedPath);
378	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(extractedPathKino);
379
380	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->length(), end - begin);
381	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->end(), path->end());
382	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(
383			extractedPath->initial().head(indexECS + 3),
384			path->eval(begin, success)
385			.head(indexECS + 3)); // ignore last 3 extraDof because acceleration
386			// is set to 0 in initial/end configuration
387	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (size_t i = 0; i < 3; i++) {
388	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getA1()[i], pathKino->getA1()[i]);
389	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[i], pathKino->getT0()[i]);
390	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT2()[i], pathKino->getT2()[i]);
391			}
392	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT1()[2], 0);
393	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[2], extractedPath->length());
394	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[2], 0);
395	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[0],
396			pathKino->getT1()[0] - begin);
397	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[0], pathKino->getTv()[0]);
398	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[1],
399			pathKino->getT1()[1] - begin);
400	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getTv()[1], 0);
401
402			// extract path in the middle :
403		2	begin = 1.5;
404		2	end = 4.4;
405	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	extractedPath = path->extract(std::make_pair(begin, end));
406	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(extractedPath);
407		2	extractedPathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, extractedPath);
408	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(extractedPathKino);
409
410	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->length(), end - begin);
411	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPath->end().head(indexECS + 3),
412			path->eval(end, success).head(indexECS + 3));
413	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(
414			extractedPath->initial().head(indexECS + 3),
415			path->eval(begin, success)
416			.head(indexECS + 3)); // ignore last 3 extraDof because acceleration
417			// is set to 0 in initial/end configuration
418	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (size_t i = 0; i < 3; i++) {
419	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getA1()[i], pathKino->getA1()[i]);
420	9/18 ✓ 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 12 taken 3 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 3 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 3 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 3 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 3 times.	6	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[i], pathKino->getT0()[i]);
421			}
422	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT1()[2], 0);
423	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[2], extractedPath->length());
424	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[2], 0);
425			// x axis is cut during first and second segment :
426	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[0],
427			pathKino->getT1()[0] - begin);
428	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getTv()[0],
429			extractedPath->length() - extractedPathKino->getT1()[0]);
430	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getT2()[0], 0);
431			// y axis is cut during first and third segment
432	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT1()[1],
433			pathKino->getT1()[1] - begin);
434	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(extractedPathKino->getTv()[1], 0);
435	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK_EQUAL(extractedPathKino->getT2()[1],
436			extractedPath->length() - extractedPathKino->getT1()[1]);
437
438			// random tests with non null initial and final acceleration
439
440			ConfigurationShooterPtr_t shooter =
441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	configurationShooter::Uniform::create(robot);
442	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Configuration_t qr1, qr0;
443			value_type t1, t2;
444	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (size_t i = 0; i < 1000; i++) {
445	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	qr0 = shooter->shoot();
446	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	qr1 = shooter->shoot();
447	3/6 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken.	2000	path = (*sm)(qr0, qr1);
448	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_REQUIRE(path);
449		2000	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
450	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_REQUIRE(pathKino);
451	10/20 ✓ 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 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1000 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1000 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1000 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1000 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1000 times.	2000	BOOST_CHECK(path->length() >= (*dist)(qr0, qr1));
452	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->end().head(indexECS + 3), (qr1).head(indexECS + 3));
453	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->initial().head(indexECS + 3),
454			(qr0).head(indexECS + 3));
455	9/18 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1000 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1000 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->eval(path->length(), success).head(indexECS + 3),
456			(qr1).head(indexECS + 3));
457	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->eval(0., success).head(indexECS + 3),
458			(qr0).head(indexECS + 3));
459
460	2/2 ✓ Branch 0 taken 3000 times. ✓ Branch 1 taken 1000 times.	8000	for (size_t k = 0; k < 3; k++) {
461	7/14 ✓ Branch 1 taken 3000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 3000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 3000 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 3000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3000 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 3000 times.	6000	BOOST_CHECK_EQUAL(pathKino->getT0()[k], 0.);
462	8/16 ✓ Branch 1 taken 3000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 3000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 3000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 3000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 3000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 3000 times.	6000	BOOST_CHECK(pathKino->getT1()[k] >= 0.);
463	8/16 ✓ Branch 1 taken 3000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 3000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 3000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 3000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 3000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 3000 times.	6000	BOOST_CHECK(pathKino->getTv()[k] >= 0.);
464	8/16 ✓ Branch 1 taken 3000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 3000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 3000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 3000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 3000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 3000 times.	6000	BOOST_CHECK(pathKino->getT2()[k] >= 0.);
465			}
466
467	2/2 ✓ Branch 0 taken 10000 times. ✓ Branch 1 taken 1000 times.	22000	for (size_t j = 0; j < 10; j++) {
468			value_type a =
469	1/2 ✓ Branch 3 taken 10000 times. ✗ Branch 4 not taken.	20000	((value_type)rand() / (value_type)RAND_MAX) * path->length();
470			value_type b =
471	1/2 ✓ Branch 3 taken 10000 times. ✗ Branch 4 not taken.	20000	((value_type)rand() / (value_type)RAND_MAX) * path->length();
472	2/2 ✓ Branch 0 taken 5021 times. ✓ Branch 1 taken 4979 times.	20000	if (a < b) {
473		10042	t1 = a;
474		10042	t2 = b;
475			} else {
476		9958	t1 = b;
477		9958	t2 = a;
478			}
479	2/4 ✓ Branch 2 taken 10000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken.	20000	extractedPath = path->extract(std::make_pair(t1, t2));
480	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 10000 times.	20000	BOOST_REQUIRE(extractedPath);
481	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->length(), t2 - t1);
482	5/10 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 10000 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->timeRange().first, 0.);
483	5/10 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 10000 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->timeRange().second, t2 - t1);
484	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->initial().head(indexECS + 3),
485			path->eval(t1, success).head(indexECS + 3));
486	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->end().head(indexECS + 3),
487			path->eval(t2, success).head(indexECS + 3));
488	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->eval(0., success).head(indexECS + 3),
489			path->eval(t1, success).head(indexECS + 3));
490	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(
491			extractedPath->eval(t2 - t1, success).head(indexECS + 3),
492			path->eval(t2, success).head(indexECS + 3));
493
494	1/2 ✓ Branch 0 taken 10000 times. ✗ Branch 1 not taken.	20000	if (t1 < t2) {
495			extractedPathKino =
496		20000	HPP_DYNAMIC_PTR_CAST(KinodynamicPath, extractedPath);
497	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 10000 times.	20000	BOOST_REQUIRE(extractedPathKino);
498	2/2 ✓ Branch 0 taken 30000 times. ✓ Branch 1 taken 10000 times.	80000	for (size_t k = 0; k < 3; k++) {
499	7/14 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 30000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 30000 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 30000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30000 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 30000 times.	60000	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[k], 0.);
500	8/16 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 30000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 30000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 30000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 30000 times.	60000	BOOST_CHECK(extractedPathKino->getT1()[k] >= 0.);
501	8/16 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 30000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 30000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 30000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 30000 times.	60000	BOOST_CHECK(extractedPathKino->getTv()[k] >= 0.);
502	8/16 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 30000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 30000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 30000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 30000 times.	60000	BOOST_CHECK(extractedPathKino->getT2()[k] >= 0.);
503	12/24 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 30000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 30000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 30000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 30000 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 30000 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 30000 times. ✗ Branch 30 not taken. ✓ Branch 34 taken 30000 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 30000 times. ✗ Branch 38 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 30000 times.	60000	BOOST_CHECK_CLOSE(extractedPathKino->getT1()[k] +
504			extractedPathKino->getTv()[k] +
505			extractedPathKino->getT2()[k],
506			t2 - t1, 1e-3);
507			}
508			}
509			}
510			}
511		2	}
512
513	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(kinodynamic_aMax1) {
514	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
515	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(0, -10);
516	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(1, -10);
517	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(2, 0);
518	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(0, 10);
519	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(1, 10);
520	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(2, 0);
521
522	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->setDimensionExtraConfigSpace(6);
523			// define velocity and acceleration bounds
524		2	const double vMax = 0.3;
525		2	const double aMax = 1.;
526	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(0) = -vMax;
527	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(1) = -vMax;
528	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(2) = 0;
529	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(0) = vMax;
530	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(1) = vMax;
531	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(2) = 0;
532	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(3) = -aMax;
533	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(4) = -aMax;
534	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(5) = 0;
535	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(3) = aMax;
536	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(4) = aMax;
537	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(5) = 0;
538	6/12 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(robot->extraConfigSpace().dimension() == 6,
539			"error during creation of the robot");
540
541			// Create steering method
542	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ProblemPtr_t p = Problem::create(robot);
543	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	p->setParameter(std::string("Kinodynamic/velocityBound"), Parameter(vMax));
544	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	p->setParameter(std::string("Kinodynamic/accelerationBound"),
545	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Parameter(aMax));
546
547	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create(p);
548	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
549
550			// try to connect several states : (notation : sx = (px, vx, ax)
551	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Configuration_t q0(robot->currentConfiguration());
552	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Configuration_t q1(robot->currentConfiguration());
553
554			JointBoundValidationPtr_t jointValidation =
555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointBoundValidation::create(robot);
556			pathValidation::DiscretizedPtr_t pathVal =
557	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pathValidation::createDiscretizedCollisionChecking(robot, 0.001);
558	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	pathVal->add(jointValidation);
559		2	PathValidationReportPtr_t validationReport;
560		2	PathPtr_t validPath;
561
562	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0[0] = 0;
563	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1[0] = 1.5;
564	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	PathPtr_t path = (*sm)(q0, q1);
565	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(path);
566		2	KinodynamicPathPtr_t pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicPath, path);
567	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(pathKino);
568
569			// length should be 2.82843
570	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_CLOSE(path->length(), 5.3, 1e-3);
571	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(path->length(), (*dist)(q0, q1));
572			// check if 3 segments
573	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(pathKino->getTv()[0] > 0.);
574	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getT0()[0], 0.);
575	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 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 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK_EQUAL(
576			pathKino->getT1()[0] + pathKino->getTv()[0] + pathKino->getT2()[0],
577			path->length());
578
579			// check if no unecessary motion :
580	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 1 times.	6	for (size_t i = 1; i < 3; i++) {
581	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT0()[i], 0.);
582	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT1()[i], 0.);
583	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getT2()[i], 0.);
584	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 2 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 2 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getA1()[i], 0.);
585	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 2 times.	4	BOOST_CHECK_EQUAL(pathKino->getTv()[i], path->length());
586			}
587			// check if the trajectory is really bang-bang :
588	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 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_EQUAL(pathKino->getA1()[0], aMax);
589	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_EQUAL(pathKino->getT1()[0], pathKino->getT2()[0]);
590			// check if bounds are respected :
591	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(pathVal->validate(path, false, validPath, validationReport));
592		2	}
593
594	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(kinodynamicOriented) {
595	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple);
596	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(0, -10);
597	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(1, -10);
598	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->lowerBound(2, 0);
599	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(0, 10);
600	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(1, 10);
601	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	robot->rootJoint()->upperBound(2, 0);
602
603	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	robot->setDimensionExtraConfigSpace(6);
604			// define velocity and acceleration bounds
605		2	const double vMax = 2;
606		2	const double aMax = 0.5;
607	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(0) = -vMax;
608	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(1) = -vMax;
609	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(2) = 0;
610	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(0) = vMax;
611	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(1) = vMax;
612	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(2) = 0;
613	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(3) = -aMax;
614	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(4) = -aMax;
615	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().lower(5) = 0;
616	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(3) = aMax;
617	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(4) = aMax;
618	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	robot->extraConfigSpace().upper(5) = 0;
619	6/12 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(robot->extraConfigSpace().dimension() == 6,
620			"error during creation of the robot");
621
622			// Create steering method
623	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ProblemPtr_t p = Problem::create(robot);
624	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	p->setParameter(std::string("Kinodynamic/velocityBound"), Parameter(vMax));
625	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	p->setParameter(std::string("Kinodynamic/accelerationBound"),
626	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Parameter(aMax));
627	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	p->setParameter(std::string("Kinodynamic/forceAllOrientation"),
628	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Parameter(true));
629
630	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create(p);
631	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
632		2	KinodynamicOrientedPathPtr_t pathKino, extractedPathKino;
633		2	PathPtr_t path, extractedPath;
634
635	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	size_t indexECS = robot->configSize() - 6;
636			bool success;
637
638			JointBoundValidationPtr_t jointValidation =
639	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointBoundValidation::create(robot);
640			pathValidation::DiscretizedPtr_t pathVal =
641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pathValidation::createDiscretizedCollisionChecking(robot, 0.001);
642	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	pathVal->add(jointValidation);
643		2	PathValidationReportPtr_t validationReport;
644		2	PathPtr_t validPath;
645
646			ConfigurationShooterPtr_t shooter =
647	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	configurationShooter::Uniform::create(robot);
648	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Configuration_t qr1, qr0;
649			value_type t1, t2;
650	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (size_t i = 0; i < 1000; i++) {
651	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	qr0 = shooter->shoot();
652	1/2 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken.	2000	qr1 = shooter->shoot();
653	3/6 ✓ Branch 2 taken 1000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken.	2000	path = (*sm)(qr0, qr1);
654	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_REQUIRE(path);
655		2000	pathKino = HPP_DYNAMIC_PTR_CAST(KinodynamicOrientedPath, path);
656	6/12 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1000 times.	2000	BOOST_REQUIRE(pathKino);
657	10/20 ✓ 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 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1000 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1000 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1000 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1000 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1000 times.	2000	BOOST_CHECK(path->length() >= (*dist)(qr0, qr1));
658	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->end().head(3), (qr1).head(3));
659	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->initial().head(3), (qr0).head(3));
660	9/18 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1000 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1000 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->eval(path->length(), success).head(3),
661			(qr1).head(3));
662	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1000 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1000 times.	2000	BOOST_CHECK_EQUAL(path->eval(0., success).head(3), (qr0).head(3));
663	2/2 ✓ Branch 0 taken 10000 times. ✓ Branch 1 taken 1000 times.	22000	for (size_t j = 0; j < 10; j++) {
664			value_type a =
665	1/2 ✓ Branch 3 taken 10000 times. ✗ Branch 4 not taken.	20000	((value_type)rand() / (value_type)RAND_MAX) * path->length();
666			value_type b =
667	1/2 ✓ Branch 3 taken 10000 times. ✗ Branch 4 not taken.	20000	((value_type)rand() / (value_type)RAND_MAX) * path->length();
668	2/2 ✓ Branch 0 taken 4991 times. ✓ Branch 1 taken 5009 times.	20000	if (a < b) {
669		9982	t1 = a;
670		9982	t2 = b;
671			} else {
672		10018	t1 = b;
673		10018	t2 = a;
674			}
675	2/4 ✓ Branch 2 taken 10000 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken.	20000	extractedPath = path->extract(std::make_pair(t1, t2));
676	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 10000 times.	20000	BOOST_REQUIRE(extractedPath);
677	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->length(), t2 - t1);
678	5/10 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 10000 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->timeRange().first, 0.);
679	5/10 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 10000 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->timeRange().second, t2 - t1);
680	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->initial().head(indexECS + 3),
681			path->eval(t1, success).head(indexECS + 3));
682	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->end().head(indexECS + 3),
683			path->eval(t2, success).head(indexECS + 3));
684	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(extractedPath->eval(0., success).head(indexECS + 3),
685			path->eval(t1, success).head(indexECS + 3));
686	9/18 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 10000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 10000 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 10000 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 10000 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 10000 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 10000 times. ✗ Branch 28 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 10000 times.	20000	BOOST_CHECK_EQUAL(
687			extractedPath->eval(t2 - t1, success).head(indexECS + 3),
688			path->eval(t2, success).head(indexECS + 3));
689
690	1/2 ✓ Branch 0 taken 10000 times. ✗ Branch 1 not taken.	20000	if (t1 < t2) {
691			extractedPathKino =
692		20000	HPP_DYNAMIC_PTR_CAST(KinodynamicOrientedPath, extractedPath);
693	6/12 ✓ Branch 1 taken 10000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10000 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 10000 times.	20000	BOOST_REQUIRE(extractedPathKino);
694	2/2 ✓ Branch 0 taken 30000 times. ✓ Branch 1 taken 10000 times.	80000	for (size_t k = 0; k < 3; k++) {
695	7/14 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 30000 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 30000 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 30000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30000 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 30000 times.	60000	BOOST_CHECK_EQUAL(extractedPathKino->getT0()[k], 0.);
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697	8/16 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 30000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 30000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 30000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 30000 times.	60000	BOOST_CHECK(extractedPathKino->getTv()[k] >= 0.);
698	8/16 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 30000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 30000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 30000 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 30000 times.	60000	BOOST_CHECK(extractedPathKino->getT2()[k] >= 0.);
699	12/24 ✓ Branch 1 taken 30000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30000 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 30000 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 30000 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 30000 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 30000 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 30000 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 30000 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 30000 times. ✗ Branch 30 not taken. ✓ Branch 34 taken 30000 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 30000 times. ✗ Branch 38 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 30000 times.	60000	BOOST_CHECK_CLOSE(extractedPathKino->getT1()[k] +
700			extractedPathKino->getTv()[k] +
701			extractedPathKino->getT2()[k],
702			t2 - t1, 1e-3);
703			}
704			}
705			}
706			}
707		2	}
708
709			BOOST_AUTO_TEST_SUITE_END()
710