GCC Code Coverage Report

Directory:	./
File:	tests/frame.cc
Date:	2025-05-04 12:09:19

	Exec	Total	Coverage
Lines:	61	62	98.4%
Branches:	253	518	48.8%

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 tframe
30
31			#include <boost/test/unit_test.hpp>
32			#include <hpp/pinocchio/device.hh>
33			#include <hpp/pinocchio/frame.hh>
34			#include <hpp/pinocchio/humanoid-robot.hh>
35			#include <hpp/pinocchio/joint.hh>
36			#include <hpp/pinocchio/simple-device.hh>
37			#include <hpp/pinocchio/urdf/util.hh>
38			#include <pinocchio/algorithm/frames.hpp>
39
40			#define CHECK_TRANSFORM(M, Mexp) BOOST_CHECK((M.inverse() * Mexp).isIdentity())
41
42			using namespace hpp::pinocchio;
43
44			typedef std::vector<std::string> Strings_t;
45		2	void check_children(const Model& model, Frame& f, Strings_t expected_children) {
46		2	const std::vector<FrameIndex>& children = f.children();
47	4/8 ✓ Branch 3 taken 2 times. ✗ Branch 4 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 2 times.	2	BOOST_CHECK_EQUAL(children.size(), expected_children.size());
48	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 2 taken 2 times.	7	for (std::size_t i = 0; i < children.size(); ++i) {
49	1/2 ✓ Branch 3 taken 5 times. ✗ Branch 4 not taken.	5	std::string name = model.frames[children[i]].name;
50			Strings_t::iterator _found =
51	1/2 ✓ Branch 3 taken 5 times. ✗ Branch 4 not taken.	5	std::find(expected_children.begin(), expected_children.end(), name);
52	8/16 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 5 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 5 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 5 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 5 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 5 times. ✗ Branch 25 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 5 times.	5	BOOST_CHECK_MESSAGE(_found != expected_children.end(),
53			"Child frame " << name << " not found");
54	2/4 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 5 times. ✗ Branch 7 not taken.	5	if (_found != expected_children.end()) expected_children.erase(_found);
55		5	}
56	1/2 ✗ Branch 1 not taken. ✓ Branch 2 taken 2 times.	2	for (std::size_t i = 0; i < expected_children.size(); ++i) {
57		✗	BOOST_CHECK_MESSAGE(false,
58			"Frame " << expected_children[i] << " not found");
59			}
60		2	}
61
62			/* Build a hpp::pinocchio::Device from urdf path. */
63		1	DevicePtr_t hppPinocchio() {
64	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	return unittest::makeDevice(unittest::HumanoidRomeo);
65			}
66
67	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(frame) {
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DevicePtr_t pinocchio = hppPinocchio();
69	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Configuration_t q = pinocchio->neutralConfiguration();
70	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	pinocchio->currentConfiguration(q);
71	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio->computeForwardKinematics(JOINT_POSITION);
72
73	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	Frame root = pinocchio->getFrameByName("root_joint");
74	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	Frame waist = pinocchio->getFrameByName("waist");
75	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(!root.isFixed());
76	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(waist.isFixed());
77	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 11 taken 1 times. ✗ Branch 12 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_EQUAL(waist.parentFrame().name(), "base_link");
78	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(waist.parentFrame().isFixed());
79
80		2	Strings_t expected_children;
81			// The children a frame F we talk about here are the last frames of every
82			// chain of non-moving frames starting from the frame F.
83	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expected_children.push_back("ImuTorsoAccelerometer_frame");
84	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expected_children.push_back("ImuTorsoGyrometer_frame");
85	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expected_children.push_back("TrunkYaw");
86	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expected_children.push_back("LHipYaw");
87	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	expected_children.push_back("RHipYaw");
88
89			// Check that the children are properly set.
90	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	Frame body = pinocchio->getFrameByName("body");
91	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	check_children(pinocchio->model(), body, expected_children);
92	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_children(pinocchio->model(), root, Strings_t());
93
94			// Check position in parent frame.
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointPtr_t root_j = waist.joint();
96	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(root_j);
97	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(root_j->name(), "root_joint");
98
99			Frame ImuTorsoAcc_F =
100	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	pinocchio->getFrameByName("ImuTorsoAccelerometer_joint"),
101	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	ImuTorsoGyr_F = pinocchio->getFrameByName("ImuTorsoGyrometer_joint"),
102	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	TrunkYaw_F = pinocchio->getFrameByName("TrunkYaw"),
103	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	LHipYaw_F = pinocchio->getFrameByName("LHipYaw"),
104	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	4	RHipYaw_F = pinocchio->getFrameByName("RHipYaw");
105
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s ImuTorsoAcc_M = ImuTorsoAcc_F.positionInParentFrame(),
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ImuTorsoGyr_M = ImuTorsoGyr_F.positionInParentFrame(),
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TrunkYaw_M = TrunkYaw_F.positionInParentFrame(),
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LHipYaw_M = LHipYaw_F.positionInParentFrame(),
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RHipYaw_M = RHipYaw_F.positionInParentFrame();
111
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Transform3s shift = Transform3s::Random();
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	waist.positionInParentFrame(shift);
114	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio->computeForwardKinematics(JOINT_POSITION);
115
116	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(ImuTorsoAcc_F.positionInParentFrame(), ImuTorsoAcc_M);
117	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(ImuTorsoGyr_F.positionInParentFrame(), ImuTorsoGyr_M);
118	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(TrunkYaw_F.positionInParentFrame(), TrunkYaw_M);
119	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(LHipYaw_F.positionInParentFrame(), LHipYaw_M);
120	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(RHipYaw_F.positionInParentFrame(), RHipYaw_M);
121	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	CHECK_TRANSFORM(waist.positionInParentFrame(), shift);
122
123	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 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 38 not taken. ✓ Branch 39 taken 1 times.	2	CHECK_TRANSFORM(ImuTorsoAcc_F.currentTransformation(), shift * ImuTorsoAcc_M);
124	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 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 38 not taken. ✓ Branch 39 taken 1 times.	2	CHECK_TRANSFORM(ImuTorsoGyr_F.currentTransformation(), shift * ImuTorsoGyr_M);
125	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 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 38 not taken. ✓ Branch 39 taken 1 times.	2	CHECK_TRANSFORM(TrunkYaw_F.currentTransformation(), shift * TrunkYaw_M);
126	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 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 38 not taken. ✓ Branch 39 taken 1 times.	2	CHECK_TRANSFORM(LHipYaw_F.currentTransformation(), shift * LHipYaw_M);
127	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 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 38 not taken. ✓ Branch 39 taken 1 times.	2	CHECK_TRANSFORM(RHipYaw_F.currentTransformation(), shift * RHipYaw_M);
128		2	}
129