GCC Code Coverage Report

Directory:	./
File:	tests/time-parameterization.cc
Date:	2024-08-10 11:29:48

	Exec	Total	Coverage
Lines:	100	103	97.1%
Branches:	538	1098	49.0%

Line	Branch	Exec	Source
1			// Copyright (c) 2017, Joseph Mirabel
2			// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3			//
4
5			// Redistribution and use in source and binary forms, with or without
6			// modification, are permitted provided that the following conditions are
7			// met:
8			//
9			// 1. Redistributions of source code must retain the above copyright
10			// notice, this list of conditions and the following disclaimer.
11			//
12			// 2. Redistributions in binary form must reproduce the above copyright
13			// notice, this list of conditions and the following disclaimer in the
14			// documentation and/or other materials provided with the distribution.
15			//
16			// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17			// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18			// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19			// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20			// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21			// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22			// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23			// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24			// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25			// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26			// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27			// DAMAGE.
28
29			#define BOOST_TEST_MODULE time_parameterization
30			#include <boost/test/included/unit_test.hpp>
31			#include <hpp/core/time-parameterization/piecewise-polynomial.hh>
32			#include <hpp/core/time-parameterization/polynomial.hh>
33			#include <hpp/pinocchio/simple-device.hh>
34			#include <pinocchio/fwd.hpp>
35
36			using namespace hpp::core;
37			using namespace hpp::pinocchio;
38
39		✗	DevicePtr_t createRobot() {
40		✗	DevicePtr_t robot = unittest::makeDevice(unittest::ManipulatorArm2);
41		✗	return robot;
42			}
43
44			BOOST_AUTO_TEST_SUITE(polynomial)
45
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47	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t a(vector_t::Ones(2));
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeParameterization::Polynomial P(a);
49
50	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(-1), 0);
51	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(0), 1);
52	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(1), 2);
53
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56	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivative(1, 1), 1);
57
58	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 1);
59	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(-1, 1), 1);
60	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(-5, 5), 1);
61		2	}
62
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64	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t a(vector_t::Ones(4));
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeParameterization::Polynomial P(a);
66
67	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(-1), 0);
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70
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73	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivative(0, 1), 1);
74	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivative(1, 1), 6);
75
76			// x_m = - 1 / 3, P'(x_m) = 2/3
77	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(0, 1), 6);
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79	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(-2, -1), 9);
80		2	}
81
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83	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	vector_t a(vector_t::Ones(4));
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	a[3] = -1;
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeParameterization::Polynomial P(a);
86
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90
91	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivative(-1, 1), -4);
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94
95			// x_m = 1 / 3, P'(x_m) = 4 / 3
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98	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.derivativeBound(1. / 3, 1), 4. / 3);
99		2	}
100
101		2	value_type integrate(const timeParameterization::Polynomial& P,
102			const value_type& L) {
103		2	int N = 10000;
104
105		2	value_type dt = L / N;
106		2	value_type integral = 0;
107
108	2/2 ✓ Branch 0 taken 20000 times. ✓ Branch 1 taken 2 times.	20002	for (int i = 0; i < N; ++i) {
109	1/2 ✓ Branch 1 taken 20000 times. ✗ Branch 2 not taken.	20000	integral += P.derivative(i * dt, 1) * dt;
110			}
111		2	return integral;
112			}
113
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115		2	value_type prec = 0.01; // %
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t a(6);
117			{
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119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeParameterization::Polynomial P(a);
120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	value_type integral = integrate(P, 0.822769);
121	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(integral, 0.117251, prec);
122		2	}
123			{
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125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timeParameterization::Polynomial P(a);
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	value_type integral = integrate(P, 1.53147);
127	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_CLOSE(integral, 0.406237, prec);
128		2	}
129		2	}
130
131			BOOST_AUTO_TEST_SUITE_END()
132
133			BOOST_AUTO_TEST_SUITE(piecewise_polynomial)
134
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136			typedef timeParameterization::PiecewisePolynomial<1>
137			LinearPiecewisePolynomial;
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LinearPiecewisePolynomial::ParameterMatrix_t M(2, 2);
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t xs(3);
140			// P(x) = x + 1 for x in [0, 1]
141			// P(x) = 3 - x for x in [1, 2]
142	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	M << 1, 3, 1, -1;
143	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	xs << 0, 1, 2;
144
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LinearPiecewisePolynomial P(M, xs);
146
147	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(P.value(-0.1), std::invalid_argument);
148	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(P.value(2.1), std::invalid_argument);
149	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(0), 1);
150	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(1), 2);
151	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(P.value(2), 1);
152		2	}
153
154			template <int Order>
155		1	value_type integrate(
156			const timeParameterization::PiecewisePolynomial<Order>& P) {
157		1	int N = 10000;
158
159		1	std::vector<value_type> const& ts = P.breakpoints();
160		1	value_type dt = (ts.back() - ts.front()) / N;
161		1	value_type integral = 0;
162
163	2/2 ✓ Branch 0 taken 10000 times. ✓ Branch 1 taken 1 times.	10001	for (int i = 0; i < N; ++i) {
164	1/2 ✓ Branch 2 taken 10000 times. ✗ Branch 3 not taken.	10000	integral += P.derivative(ts.front() + i * dt, 1) * dt;
165			}
166		1	return integral;
167			}
168
169	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(degree2integration) {
170			typedef timeParameterization::PiecewisePolynomial<2> QuadPiecewisePolynomial;
171
172		2	value_type prec = 0.01; // %
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	QuadPiecewisePolynomial::ParameterMatrix_t M(3, 3);
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t ts(4);
175	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	ts << 0.2, 1.4, 3, 3.1;
176			{
177	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken.	2	M << 0, 0.408, 2.424, 0.1, 0.3, 0.2, 0.2, 0.6, 1.5;
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	QuadPiecewisePolynomial P(M, ts);
179
180	10/20 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK_CLOSE(P.value(0.3),
181			M(0, 0) + M(1, 0) * 0.3 + M(2, 0) * 0.3 * 0.3, 1e-13);
182	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_CLOSE(P.derivative(0.3, 1), M(1, 0) + 2 * M(2, 0) * 0.3, 1e-13);
183		2	P.polynomialsStartAtZero(true);
184	10/20 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK_CLOSE(P.value(0.3),
185			M(0, 0) + M(1, 0) * 0.1 + M(2, 0) * 0.1 * 0.1, 1e-13);
186	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK_CLOSE(P.derivative(0.3, 1), M(1, 0) + 2 * M(2, 0) * 0.1, 1e-13);
187
188	2/2 ✓ Branch 2 taken 3 times. ✓ Branch 3 taken 1 times.	8	for (int i : {1, 2, 3})
189	10/20 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 3 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 3 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 3 times. ✗ Branch 29 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 3 times.	6	BOOST_CHECK_CLOSE(P.value(ts[i] - 1e-12), P.value(ts[i]), 1e-8);
190
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	value_type integral = integrate(P);
192	10/20 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK_CLOSE(integral, P.value(ts[3]) - P.value(ts[0]), prec);
193		2	}
194		2	}
195
196			BOOST_AUTO_TEST_SUITE_END()
197