GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	220	221	99.5%
Branches:	1113	2216	50.2%

Line	Branch	Exec	Source
1			// Copyright (c) 2017-2018, CNRS
2			// Authors: Florent Lamiraux
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			// Specific to CLANG to remove bad C99-extensions warning
32			#if __clang__
33			#include <boost/variant.hpp>
34			#endif
35
36			#include <boost/archive/xml_iarchive.hpp>
37			#include <boost/archive/xml_oarchive.hpp>
38			#include <boost/assign/list_of.hpp>
39			#include <boost/test/unit_test.hpp>
40			#include <hpp/pinocchio/liegroup-element.hh>
41			#include <hpp/pinocchio/serialization.hh>
42			#include <sstream>
43
44			using boost::assign::list_of;
45			using hpp::pinocchio::LiegroupElement;
46			using hpp::pinocchio::LiegroupElementConstRef;
47			using hpp::pinocchio::LiegroupElementRef;
48			using hpp::pinocchio::LiegroupSpace;
49			using hpp::pinocchio::LiegroupSpaceConstPtr_t;
50			using hpp::pinocchio::LiegroupSpacePtr_t;
51			using hpp::pinocchio::LiegroupType;
52			using hpp::pinocchio::size_type;
53			using hpp::pinocchio::value_type;
54			using hpp::pinocchio::vector_t;
55
56		200	static bool sameR3xSO3(const LiegroupElement& e1, const LiegroupElement& e2,
57			const value_type& eps) {
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59	4/6 ✓ Branch 1 taken 200 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 200 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 151 times. ✓ Branch 7 taken 49 times.	200	if ((u2 - u1).norm() < eps) return true;
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62		✗	return false;
63		200	}
64
65		1	void cast_into_LiegroupElementRef(LiegroupElementRef ref,
66			const LiegroupElement& u) {
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69		1	}
70
71		1	void cast_into_LiegroupElementConstRef(LiegroupElementConstRef ref,
72			const LiegroupElement& u) {
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75		1	}
76
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78		2	size_type n(10);
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81
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84
85			// Test assignment operator
86	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	e = vector_t::Zero(n);
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88		2	}
89
90			// Test that operator+ and operator- behave as expected for vector spaces
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92			// Test vectors
93		2	size_type n(10);
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95
96	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (std::size_t i = 0; i < 100; ++i) {
97	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	u1.setRandom();
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99
100	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	vector_t sum(u1 + u2);
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102
103	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	LiegroupElement e1(u1), e2(u2);
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114		200	}
115		2	}
116
117			// Test a combination of R^3 and SO3
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120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t velocity(6);
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpacePtr_t R3xSO3(LiegroupSpace::R3xSO3());
122
123			// Test sizes
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128			// Test operator==
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130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t neutral(7);
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133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupElement e(R3xSO3);
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	e.setNeutral();
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136
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138	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	u1.setRandom();
139	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	u3.setRandom();
140
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143
144	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	LiegroupElement e1(u1, R3xSO3);
145	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	velocity.setRandom();
146
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148
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150
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152	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	velocity = e3 - e1;
153
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155
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158
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160		200	}
161
162			// Test rotation around frame axes from unit quaternion.
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165
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168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	velocity.setZero();
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	velocity[3] = M_PI / 2;
170
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupElement e5(u5, R3xSO3);
172
173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	LiegroupElement e6(e5 + velocity);
174	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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((e6.vector() - res).norm() < 1e-10);
175
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177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	velocity.setZero();
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	velocity[4] = M_PI / 2;
179
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	e5 = LiegroupElement(u5, R3xSO3);
181
182	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	e6 = e5 + velocity;
183	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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((e6.vector() - res).norm() < 1e-10);
184		2	}
185
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187	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(3)) == (LiegroupSpace::R3()));
188	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(2)) == (LiegroupSpace::R2()));
189	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(1)) == (LiegroupSpace::R1()));
190	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R2xSO2()) == (LiegroupSpace::R2xSO2()));
191	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R3xSO3()) == (LiegroupSpace::R3xSO3()));
192
193	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(3)) != (LiegroupSpace::R2()));
194	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R2()) != (LiegroupSpace::Rn(3)));
195	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(3)) != (LiegroupSpace::Rn(2)));
196	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(2)) != (LiegroupSpace::Rn(3)));
197	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R2xSO2()) != (LiegroupSpace::R3xSO3()));
198	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R3xSO3()) != (LiegroupSpace::R2xSO2()));
199	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R3xSO3()) != (LiegroupSpace::R3()));
200	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R3()) != (LiegroupSpace::R3xSO3()));
201	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R3xSO3()) != (LiegroupSpace::Rn(3)));
202	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(3)) != (LiegroupSpace::R3xSO3()));
203	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R2xSO2()) != (LiegroupSpace::Rn(3)));
204	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(3)) != (LiegroupSpace::R2xSO2()));
205	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::R2xSO2()) != (LiegroupSpace::Rn(2)));
206	8/16 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK((LiegroupSpace::Rn(2)) != (LiegroupSpace::R2xSO2()));
207
208	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(LiegroupSpace::R1()->isVectorSpace());
209	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(LiegroupSpace::R2()->isVectorSpace());
210	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(LiegroupSpace::R3()->isVectorSpace());
211	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(LiegroupSpace::Rn(4)->isVectorSpace());
212	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(LiegroupSpace::empty()->isVectorSpace());
213	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(!LiegroupSpace::SE2()->isVectorSpace());
214	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(!LiegroupSpace::SE3()->isVectorSpace());
215	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(!LiegroupSpace::R2xSO2()->isVectorSpace());
216	7/14 ✓ Branch 3 taken 1 times. ✗ Branch 4 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 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(!LiegroupSpace::R3xSO3()->isVectorSpace());
217		2	}
218
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221	3/6 ✓ 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.	8	LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vector_t n;
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	n.resize(20);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	n.setZero();
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	n[19] = 1;
226	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times.	2	BOOST_CHECK_EQUAL(sp->nq(), 20);
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234	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_EQUAL(sp->neutral().vector(), n);
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237		2	}
238
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240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpaceConstPtr_t sp1(LiegroupSpace::Rn(10));
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpacePtr_t sp2(sp1 ^ 4);
242
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249		2	}
250
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252	3/6 ✓ 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.	4	LiegroupSpaceConstPtr_t sp1(LiegroupSpace::SE3() * LiegroupSpace::Rn(10));
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpacePtr_t sp2(sp1 ^ 6);
254
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258	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (std::size_t i = 0; i < 6; ++i) {
259	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 6 times. ✗ Branch 10 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 6 times.	12	BOOST_CHECK_EQUAL(sp2->nq(2 * i), 7);
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263			}
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265			"SE(3)R^10SE(3)R^10SE(3)R^10"
266			"SE(3)R^10SE(3)R^10SE(3)*R^10");
267		2	}
268
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270	3/6 ✓ 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.	4	LiegroupSpaceConstPtr_t sp1(LiegroupSpace::SE3() * LiegroupSpace::Rn(10));
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpacePtr_t sp2(sp1 ^ 0);
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupSpacePtr_t sp3(sp1 ^ 1);
273
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276		2	}
277
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279		2	size_type n(10);
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281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	u.resize(n);
282
283	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (std::size_t i = 0; i < 100; ++i) {
284	1/2 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken.	200	u.setRandom();
285	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	400	LiegroupElement e(u, LiegroupSpace::Rn(n));
286	8/16 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 100 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 100 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 100 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 100 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 100 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 100 times. ✗ Branch 24 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 100 times.	200	BOOST_CHECK(hpp::pinocchio::log(e) == u);
287		200	}
288
289	3/6 ✓ 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.	4	LiegroupSpacePtr_t R6xSO3(LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LiegroupElement e(R6xSO3);
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	e.setNeutral();
292
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299
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301		2	}
302
303			template <typename base_archive = boost::archive::xml_oarchive>
304			struct oarchive : base_archive,
305			hpp::serialization::remove_duplicate::vector_archive {
306		12	oarchive(std::ostream& is) : base_archive(is) {}
307			};
308
309		12	void test_serialization(LiegroupSpacePtr_t space) {
310	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	12	LiegroupElement e(space);
311	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	12	e.setNeutral();
312
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314			{
315	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	12	oarchive<boost::archive::xml_oarchive> oa(ss);
316	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	12	oa << boost::serialization::make_nvp("element", e);
317		12	}
318
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320
321	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	12	LiegroupElement e2;
322			{
323	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	12	boost::archive::xml_iarchive ia(ss);
324	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	12	ia >> boost::serialization::make_nvp("element", e2);
325		12	}
326
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329		12	}
330
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332	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::R1());
333	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::R2());
334	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::R3());
335	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	test_serialization(LiegroupSpace::Rn(4));
336	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::SO2());
337	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::SO3());
338	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::SE2());
339	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::SE3());
340	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::R2xSO2());
341	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	test_serialization(LiegroupSpace::R3xSO3());
342	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	test_serialization(LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
343	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	test_serialization(LiegroupSpace::R3() * LiegroupSpace::R3xSO3());
344		2	}
345