GCC Code Coverage Report

Directory:	./
File:	unittest/test_wrench_cone.cpp
Date:	2025-03-26 19:23:43

	Exec	Total	Coverage
Lines:	244	250	97.6%
Branches:	1043	2050	50.9%

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2021-2025, University of Edinburgh, University of Oxford,
5			// Heriot-Watt University
6			// Copyright note valid unless otherwise stated in individual files.
7			// All rights reserved.
8			///////////////////////////////////////////////////////////////////////////////
9
10			#define BOOST_TEST_NO_MAIN
11			#define BOOST_TEST_ALTERNATIVE_INIT_API
12
13			#include <pinocchio/math/quaternion.hpp>
14
15			#include "crocoddyl/core/activations/quadratic-barrier.hpp"
16			#include "crocoddyl/multibody/cop-support.hpp"
17			#include "crocoddyl/multibody/friction-cone.hpp"
18			#include "crocoddyl/multibody/wrench-cone.hpp"
19			#include "unittest_common.hpp"
20
21			using namespace boost::unit_test;
22			using namespace crocoddyl::unittest;
23
24		1	void test_constructor() {
25			// Common parameters
26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
27		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
28	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.	1	random_real_in_range(0.01, 0.1));
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
30		1	bool inner_appr = false;
31
32			// No rotation
33	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
34
35			// Create the wrench cone
36	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, box, nf, inner_appr);
37	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_cone = cone.cast<double>();
38
39	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 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.	1	BOOST_CHECK(cone.get_R().isApprox(R));
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42	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 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.	1	BOOST_CHECK(cone.get_box().isApprox(box));
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47
48			// Checking that casted computation is the same
49	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 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.	1	BOOST_CHECK(casted_cone.get_R().isApprox(R));
50	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.	1	BOOST_CHECK(casted_cone.get_mu() == mu);
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52	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 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.	1	BOOST_CHECK(casted_cone.get_box().isApprox(box));
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57
58			// With rotation
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	R = q.toRotationMatrix();
62
63			// Create the wrench cone
64	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	1	cone = crocoddyl::WrenchCone(R, mu, box, nf, inner_appr);
65	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone.cast<double>();
66
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75
76			// Checking that casted computation is the same
77	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 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.	1	BOOST_CHECK(casted_cone.get_R().isApprox(R));
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83	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 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.	1	BOOST_CHECK(static_cast<std::size_t>(casted_cone.get_lb().size()) == nf + 13);
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85
86			// Create the wrench cone from a reference
87			{
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone cone_reference(cone);
89	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone_reference.cast<double>();
90
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93	3/4 ✓ Branch 1 taken 44 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43 times. ✓ Branch 5 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
94			++i) {
95	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(cone.get_ub()[i] == cone_reference.get_ub()[i]);
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97			}
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103			cone_reference.get_min_nforce()) < 1e-9);
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105
106			// Checking that casted computation is the same
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109	3/4 ✓ Branch 1 taken 44 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43 times. ✓ Branch 5 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
110			++i) {
111	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(casted_cone.get_ub()[i] == cone_reference.get_ub()[i]);
112	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(casted_cone.get_lb()[i] == cone_reference.get_lb()[i]);
113			}
114	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_R().isApprox(cone_reference.get_R()));
115	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_box().isApprox(cone_reference.get_box()));
116	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 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.	1	BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_reference.get_mu()) <
117			1e-9);
118	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_cone.get_inner_appr() ==
119			cone_reference.get_inner_appr());
120	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 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.	1	BOOST_CHECK(std::abs(casted_cone.get_min_nforce() -
121			cone_reference.get_min_nforce()) < 1e-9);
122	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_cone.get_max_nforce() ==
123			cone_reference.get_max_nforce());
124		1	}
125
126			// Create the wrench cone through the copy operator
127			{
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone cone_copy;
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	cone_copy = cone;
130	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_cone = cone_copy.cast<double>();
131
132	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(cone.get_nf() == cone_copy.get_nf());
133	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(cone.get_A().isApprox(cone_copy.get_A()));
134	3/4 ✓ Branch 1 taken 44 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43 times. ✓ Branch 5 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
135			++i) {
136	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(cone.get_ub()[i] == cone_copy.get_ub()[i]);
137	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(cone.get_lb()[i] == cone_copy.get_lb()[i]);
138			}
139	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(cone.get_R().isApprox(cone_copy.get_R()));
140	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(cone.get_box().isApprox(cone_copy.get_box()));
141	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 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.	1	BOOST_CHECK(std::abs(cone.get_mu() - cone_copy.get_mu()) < 1e-9);
142	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(cone.get_inner_appr() == cone_copy.get_inner_appr());
143	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 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.	1	BOOST_CHECK(std::abs(cone.get_min_nforce() - cone_copy.get_min_nforce()) <
144			1e-9);
145	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(cone.get_max_nforce() == cone_copy.get_max_nforce());
146
147			// Checking that casted computation is the same
148	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_cone.get_nf() == cone_copy.get_nf());
149	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_A().isApprox(cone_copy.get_A()));
150	3/4 ✓ Branch 1 taken 44 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 43 times. ✓ Branch 5 taken 1 times.	44	for (std::size_t i = 0; i < static_cast<std::size_t>(cone.get_ub().size());
151			++i) {
152	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(casted_cone.get_ub()[i] == cone_copy.get_ub()[i]);
153	10/20 ✓ Branch 1 taken 43 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 43 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 43 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 43 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 43 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 43 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 43 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 43 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 43 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 43 times.	43	BOOST_CHECK(casted_cone.get_lb()[i] == cone_copy.get_lb()[i]);
154			}
155	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_R().isApprox(cone_copy.get_R()));
156	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	1	BOOST_CHECK(casted_cone.get_box().isApprox(cone_copy.get_box()));
157	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 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.	1	BOOST_CHECK(std::abs(casted_cone.get_mu() - cone_copy.get_mu()) < 1e-9);
158	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_cone.get_inner_appr() == cone_copy.get_inner_appr());
159	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 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.	1	BOOST_CHECK(std::abs(casted_cone.get_min_nforce() -
160			cone_copy.get_min_nforce()) < 1e-9);
161	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_cone.get_max_nforce() == cone_copy.get_max_nforce());
162		1	}
163		1	}
164
165		1	void test_against_friction_cone() {
166			// Common parameters
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
171		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
172	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.	1	random_real_in_range(0.01, 0.1));
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
174		1	bool inner_appr = true;
175
176			// Create wrench and friction cone
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.);
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::FrictionCone friction_cone(R, mu, nf, inner_appr, 0., 100.);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_wrench_cone = wrench_cone.cast<double>();
180
181	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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	1	BOOST_CHECK((wrench_cone.get_R() - friction_cone.get_R()).isZero(1e-9));
182	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(wrench_cone.get_mu() == friction_cone.get_mu());
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 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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(wrench_cone.get_nf() == friction_cone.get_nf());
184	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
185	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 9 times.	36	for (std::size_t j = 0; j < 3; ++j) {
186	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 27 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 27 times.	27	BOOST_CHECK(wrench_cone.get_A().row(i)[j] ==
187			friction_cone.get_A().row(i)[j]);
188			}
189			}
190	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
191	10/20 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 9 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 9 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 9 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 9 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 9 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 9 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 9 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 9 times.	9	BOOST_CHECK(wrench_cone.get_ub()[i] == friction_cone.get_ub()[i]);
192	10/20 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 9 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 9 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 9 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 9 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 9 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 9 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 9 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 9 times.	9	BOOST_CHECK(wrench_cone.get_lb()[i] == friction_cone.get_lb()[i]);
193			}
194
195			// Checking that casted computation is the same
196	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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	1	BOOST_CHECK(
197			(casted_wrench_cone.get_R() - friction_cone.get_R()).isZero(1e-9));
198	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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_wrench_cone.get_mu() == friction_cone.get_mu());
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 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 28 not taken. ✓ Branch 29 taken 1 times.	1	BOOST_CHECK(casted_wrench_cone.get_nf() == friction_cone.get_nf());
200	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
201	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 9 times.	36	for (std::size_t j = 0; j < 3; ++j) {
202	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 27 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 27 times.	27	BOOST_CHECK(casted_wrench_cone.get_A().row(i)[j] ==
203			friction_cone.get_A().row(i)[j]);
204			}
205			}
206	2/2 ✓ Branch 0 taken 9 times. ✓ Branch 1 taken 1 times.	10	for (std::size_t i = 0; i < nf + 1; ++i) {
207	10/20 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 9 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 9 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 9 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 9 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 9 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 9 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 9 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 9 times.	9	BOOST_CHECK(casted_wrench_cone.get_ub()[i] == friction_cone.get_ub()[i]);
208	10/20 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 9 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 9 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 9 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 9 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 9 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 9 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 9 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 9 times.	9	BOOST_CHECK(casted_wrench_cone.get_lb()[i] == friction_cone.get_lb()[i]);
209			}
210		1	}
211
212		1	void test_against_cop_support() {
213			// Common parameters
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
218		✗	Eigen::Vector2d box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
219	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.	1	random_real_in_range(0.01, 0.1));
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::size_t nf = 2 * random_int_in_range(2, 16);
221		1	bool inner_appr = true;
222
223			// Create wrench and friction cone
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone wrench_cone(R, mu, box, nf, inner_appr, 0., 100.);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::CoPSupport cop_support(R, box);
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_wrench_cone = wrench_cone.cast<double>();
227
228	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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	1	BOOST_CHECK((wrench_cone.get_R() - cop_support.get_R()).isZero(1e-9));
229	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
230	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 4 times.	28	for (std::size_t j = 0; j < 6; ++j) {
231	12/24 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 24 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 24 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 24 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 24 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 24 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 24 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 24 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 24 times.	24	BOOST_CHECK(wrench_cone.get_A().row(nf + i + 1)[j] ==
232			cop_support.get_A().row(i)[j]);
233			}
234			}
235	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
236	10/20 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 4 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 4 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 4 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 4 times.	4	BOOST_CHECK(wrench_cone.get_ub()[i + nf + 1] == cop_support.get_ub()[i]);
237	10/20 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 4 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 4 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 4 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 4 times.	4	BOOST_CHECK(wrench_cone.get_lb()[i + nf + 1] == cop_support.get_lb()[i]);
238			}
239
240			// Checking that casted computation is the same
241	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 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	1	BOOST_CHECK((casted_wrench_cone.get_R() - cop_support.get_R()).isZero(1e-9));
242	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
243	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 4 times.	28	for (std::size_t j = 0; j < 6; ++j) {
244	12/24 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 24 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 24 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 24 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 24 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 24 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 24 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 24 times. ✗ Branch 36 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 24 times.	24	BOOST_CHECK(casted_wrench_cone.get_A().row(nf + i + 1)[j] ==
245			cop_support.get_A().row(i)[j]);
246			}
247			}
248	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 1 times.	5	for (std::size_t i = 0; i < 4; ++i) {
249	10/20 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 4 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 4 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 4 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 4 times.	4	BOOST_CHECK(casted_wrench_cone.get_ub()[i + nf + 1] ==
250			cop_support.get_ub()[i]);
251	10/20 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 4 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 4 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 4 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 4 times.	4	BOOST_CHECK(casted_wrench_cone.get_lb()[i + nf + 1] ==
252			cop_support.get_lb()[i]);
253			}
254		1	}
255
256		1	void test_force_along_wrench_cone_normal() {
257			// Create the wrench cone
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
262		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
263	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.	1	random_real_in_range(0.01, 0.1));
264	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_cone = cone.cast<double>();
266
267			// Create the activation for quadratic barrier
268	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.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
270			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
272			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
274			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
276
277			// Compute the activation value
278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
280	5/10 ✓ 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.	1	wrench.head<3>() = random_real_in_range(0., 100.) * R.col(2);
281	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.	1	Eigen::VectorXd r = cone.get_A() * wrench;
282	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
283
284			// The activation value has to be zero since the wrench is inside the wrench
285			// cone
286	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 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.	1	BOOST_CHECK(data->a_value == 0.);
287
288			// Checking that casted computation is the same
289	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.	1	r = casted_cone.get_A() * wrench;
290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
291	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 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.	1	BOOST_CHECK(casted_data->a_value == 0.);
292		1	}
293
294		1	void test_negative_force_along_wrench_cone_normal() {
295			// Create the wrench cone
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Quaterniond q;
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::quaternion::uniformRandom(q);
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::Matrix3d R = q.toRotationMatrix();
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
300		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
301	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.	1	random_real_in_range(0.01, 0.1));
302	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_cone = cone.cast<double>();
304
305			// Create the activation for quadratic barrier
306	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.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
308			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
310			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
312			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
314
315			// Compute the activation value
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
318	5/10 ✓ 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.	1	wrench.head<3>() = -random_real_in_range(0., 100.) * R.col(2);
319	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.	1	Eigen::VectorXd r = cone.get_A() * wrench;
320	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
321
322			// The first nf elements of the residual has to be positive since the force is
323			// outside the wrench cone. Additionally, the last value has to be equals to
324			// the force norm but with negative value since the wrench is aligned and in
325			// opposite direction to the wrench cone orientation
326	3/4 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 4 times. ✓ Branch 4 taken 1 times.	5	for (std::size_t i = 0; i < cone.get_nf(); ++i) {
327	7/14 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 4 times.	4	BOOST_CHECK(r(i) > 0.);
328			}
329
330			// The activation value has to be positive since the wrench is outside the
331			// wrench cone
332	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
333	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 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.	1	BOOST_CHECK(data->a_value > 0.);
334
335			// Checking that casted computation is the same
336	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.	1	r = casted_cone.get_A() * wrench;
337	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
338	3/4 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 4 times. ✓ Branch 4 taken 1 times.	5	for (std::size_t i = 0; i < casted_cone.get_nf(); ++i) {
339	7/14 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 4 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 4 times.	4	BOOST_CHECK(r(i) > 0.);
340			}
341	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
342	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 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.	1	BOOST_CHECK(casted_data->a_value > 0.);
343		1	}
344
345		1	void test_force_parallel_to_wrench_cone_normal() {
346			// Create the wrench cone
347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
348	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	double mu = random_real_in_range(0.01, 1.);
349		✗	Eigen::Vector2d cone_box = Eigen::Vector2d(random_real_in_range(0.01, 0.1),
350	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.	1	random_real_in_range(0.01, 0.1));
351	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	crocoddyl::WrenchCone cone(R, mu, cone_box);
352	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::WrenchCone casted_cone = cone.cast<double>();
353
354			// Create the activation for quadratic barrier
355	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.	1	crocoddyl::ActivationBounds bounds(cone.get_lb(), cone.get_ub());
356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	crocoddyl::ActivationModelQuadraticBarrier activation(bounds);
357			crocoddyl::ActivationModelQuadraticBarrier casted_activation =
358	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.cast<double>();
359			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& data =
360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	activation.createData();
361			const std::shared_ptr<crocoddyl::ActivationDataAbstract>& casted_data =
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	casted_activation.createData();
363
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd wrench(6);
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	wrench.setZero();
366	5/10 ✓ 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.	1	wrench.head<3>() = -random_real_in_range(0., 100.) * Eigen::Vector3d::UnitX();
367	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.	1	Eigen::VectorXd r = cone.get_A() * wrench;
368
369			// The activation value has to be positive since the force is outside the
370			// wrench cone
371	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	activation.calc(data, r);
372	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 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.	1	BOOST_CHECK(data->a_value > 0.);
373
374			// Checking that casted computation is the same
375	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.	1	r = casted_cone.get_A() * wrench;
376	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	casted_activation.calc(casted_data, r);
377	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 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.	1	BOOST_CHECK(casted_data->a_value > 0.);
378		1	}
379
380		1	void register_unit_tests() {
381		1	framework::master_test_suite().add(
382	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_constructor)));
383		1	framework::master_test_suite().add(
384	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_against_friction_cone)));
385		1	framework::master_test_suite().add(
386	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_against_cop_support)));
387		1	framework::master_test_suite().add(
388	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_force_along_wrench_cone_normal)));
389	4/8 ✓ 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.	1	framework::master_test_suite().add(BOOST_TEST_CASE(
390			boost::bind(&test_negative_force_along_wrench_cone_normal)));
391		1	framework::master_test_suite().add(
392	4/8 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	1	BOOST_TEST_CASE(boost::bind(&test_force_parallel_to_wrench_cone_normal)));
393		1	}
394
395		1	bool init_function() {
396		1	register_unit_tests();
397		1	return true;
398			}
399
400		1	int main(int argc, char* argv[]) {
401		1	return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
402			}
403