GCC Code Coverage Report

Directory:	./
File:	unittest/scenario.cpp
Date:	2025-03-10 16:17:01

	Exec	Total	Coverage
Lines:	1683	1685	99.9%
Branches:	7890	16370	48.2%

Line	Branch	Exec	Source
1			// Copyright (c) 2019-2020, CNRS
2			// Authors: Pierre Fernbach <pierre.fernbach@laas.fr>,
3
4			#include <iostream>
5
6			#define BOOST_TEST_MODULE StatsTests
7			#include <ndcurves/bezier_curve.h>
8			#include <ndcurves/fwd.h>
9			#include <ndcurves/piecewise_curve.h>
10			#include <ndcurves/polynomial.h>
11			#include <ndcurves/se3_curve.h>
12
13			#include <boost/test/unit_test.hpp>
14			#include <boost/utility/binary.hpp>
15
16			#include "multicontact-api/scenario/contact-model.hpp"
17			#include "multicontact-api/scenario/contact-patch.hpp"
18			#include "multicontact-api/scenario/contact-phase.hpp"
19			#include "multicontact-api/scenario/contact-sequence.hpp"
20
21			typedef Eigen::Matrix<double, 1, 1> point1_t;
22			using ndcurves::point3_t;
23			using ndcurves::point6_t;
24			typedef Eigen::Matrix<double, 12, 1> point12_t;
25			using ndcurves::curve_ptr_t;
26			using ndcurves::curve_SE3_ptr_t;
27			using ndcurves::matrix3_t;
28			using ndcurves::piecewise_SE3_t;
29			using ndcurves::piecewise_t;
30			using ndcurves::pointX_t;
31			using ndcurves::quaternion_t;
32			using ndcurves::t_point3_t;
33			using ndcurves::t_pointX_t;
34			using namespace multicontact_api::scenario;
35			typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
36			typedef ContactModel::Matrix3X Matrix3X;
37			typedef ContactModel::Matrix6X Matrix6X;
38
39			typedef pinocchio::SE3Tpl<double> SE3;
40
41		1	curve_ptr_t buildPiecewisePolynomialC2() {
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t p0(0., 0., 0.);
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t p1(1., 2., 3.);
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t p2(4., 4., 4.);
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t p3(10., 10., 10.);
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t d0(1., 1., 1.);
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t d1(2., 2., 2.);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t d2(3., 3., 3.);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t d3(5., 5., 5.);
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t dd0(1.5, 1.5, 1.5);
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t dd1(2.5, 2.5, 2.5);
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t dd2(3.5, 3.5, 3.5);
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t dd3(5.5, 5.5, 5.5);
54		1	double t0 = 1.0;
55		1	double t1 = 1.5;
56		1	double t2 = 3.0;
57		1	double t3 = 10.0;
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	t_pointX_t points;
59	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points.push_back(p0);
60	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points.push_back(p1);
61	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points.push_back(p2);
62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points.push_back(p3);
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	t_pointX_t points_derivative;
64	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_derivative.push_back(d0);
65	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_derivative.push_back(d1);
66	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_derivative.push_back(d2);
67	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_derivative.push_back(d3);
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	t_pointX_t points_second_derivative;
69	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_second_derivative.push_back(dd0);
70	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_second_derivative.push_back(dd1);
71	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_second_derivative.push_back(dd2);
72	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	points_second_derivative.push_back(dd3);
73		1	std::vector<double> time_points;
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	time_points.push_back(t0);
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	time_points.push_back(t1);
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	time_points.push_back(t2);
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	time_points.push_back(t3);
78
79			ndcurves::piecewise_t ppc_C2 =
80			ndcurves::piecewise_t::convert_discrete_points_to_polynomial<
81			ndcurves::polynomial_t>(points, points_derivative,
82	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.	2	points_second_derivative, time_points);
83	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	curve_ptr_t res(new ndcurves::piecewise_t(ppc_C2));
84		2	return res;
85		1	}
86
87			template <typename Point>
88		1132	curve_ptr_t buildRandomPolynomial(double min = -1, double max = -1) {
89	2/4 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 566 times. ✗ Branch 5 not taken.	1132	pointX_t a = Point::Random();
90	2/4 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 566 times. ✗ Branch 5 not taken.	1132	pointX_t b = Point::Random();
91	2/4 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 566 times. ✗ Branch 5 not taken.	1132	pointX_t c = Point::Random();
92	2/4 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 566 times. ✗ Branch 5 not taken.	1132	pointX_t d = Point::Random();
93	3/4 ✓ Branch 0 taken 551 times. ✓ Branch 1 taken 15 times. ✓ Branch 2 taken 551 times. ✗ Branch 3 not taken.	1132	if (min < 0 && max < 0) {
94	1/2 ✓ Branch 1 taken 551 times. ✗ Branch 2 not taken.	1102	const double t1 = Eigen::internal::random<double>(0., 10.);
95	1/2 ✓ Branch 1 taken 551 times. ✗ Branch 2 not taken.	1102	const double t2 = Eigen::internal::random<double>(0., 10.);
96		1102	min = std::min(t1, t2);
97		1102	max = std::max(t1, t2);
98			}
99	1/2 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken.	1132	t_pointX_t vec;
100	1/2 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken.	1132	vec.push_back(a);
101	1/2 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken.	1132	vec.push_back(b);
102	1/2 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken.	1132	vec.push_back(c);
103	1/2 ✓ Branch 1 taken 566 times. ✗ Branch 2 not taken.	1132	vec.push_back(d);
104	3/6 ✓ Branch 3 taken 566 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 566 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 566 times. ✗ Branch 10 not taken.	1132	curve_ptr_t res(new ndcurves::polynomial_t(vec.begin(), vec.end(), min, max));
105		2264	return res;
106		1132	}
107
108		268	curve_ptr_t buildRandomPolynomial3D(double min = -1, double max = -1) {
109		268	return buildRandomPolynomial<point3_t>(min, max);
110			}
111
112		225	curve_ptr_t buildRandomPolynomial12D(double min = -1, double max = -1) {
113		225	return buildRandomPolynomial<point12_t>(min, max);
114			}
115
116		73	curve_ptr_t buildRandomPolynomial1D(double min = -1, double max = -1) {
117		73	return buildRandomPolynomial<point1_t>(min, max);
118			}
119
120		1	curve_SE3_ptr_t buildPiecewiseSE3() {
121		1	const double min = 0.5;
122		1	const double mid = 1.2;
123		1	const double max = 2.;
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	quaternion_t q0(1, 0, 0, 0);
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	quaternion_t q1(0., 1., 0, 0);
126	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pointX_t p0 = point3_t(1., 1.5, -2.);
127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pointX_t p1 = point3_t(3., 0, 1.);
128			curve_SE3_ptr_t cLinear =
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::make_shared<ndcurves::SE3Curve_t>(p0, p1, q0, q1, min, mid);
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t a(1, 2, 3);
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t b(2, 3, 4);
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t c(3, 4, 5);
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	point3_t d(3, 6, 7);
134		1	std::vector<point3_t> params;
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	params.push_back(a);
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	params.push_back(b);
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	params.push_back(c);
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	params.push_back(d);
139			std::shared_ptr<ndcurves::bezier3_t> translation_bezier =
140		1	std::make_shared<ndcurves::bezier3_t>(params.begin(), params.end(), mid,
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	max);
142			curve_SE3_ptr_t cBezier =
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::make_shared<ndcurves::SE3Curve_t>(translation_bezier, q0, q1);
144
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	ndcurves::piecewise_SE3_t piecewiseSE3(cLinear);
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	piecewiseSE3.add_curve_ptr(cBezier);
147			curve_SE3_ptr_t res =
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	std::make_shared<ndcurves::piecewise_SE3_t>(piecewiseSE3);
149		2	return res;
150		1	}
151
152		225	quaternion_t randomQuaternion() { // already included in newest eigen release
153	1/2 ✓ Branch 1 taken 225 times. ✗ Branch 2 not taken.	225	const double u1 = Eigen::internal::random<double>(0, 1),
154		✗	u2 = Eigen::internal::random<double>(
155	1/2 ✓ Branch 1 taken 225 times. ✗ Branch 2 not taken.	225	0, 2 * static_cast<double>(EIGEN_PI)),
156		✗	u3 = Eigen::internal::random<double>(
157	1/2 ✓ Branch 1 taken 225 times. ✗ Branch 2 not taken.	225	0, 2 * static_cast<double>(EIGEN_PI));
158		225	const double a = sqrt(1 - u1), b = sqrt(u1);
159	1/2 ✓ Branch 1 taken 225 times. ✗ Branch 2 not taken.	450	return quaternion_t(a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3))
160	1/2 ✓ Branch 1 taken 225 times. ✗ Branch 2 not taken.	450	.normalized();
161			}
162
163		111	curve_SE3_ptr_t buildRandomSE3LinearTraj(const double min, const double max) {
164	1/2 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken.	111	quaternion_t q0 = randomQuaternion();
165	1/2 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken.	111	quaternion_t q1 = randomQuaternion();
166	1/2 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken.	111	q0.normalize();
167	1/2 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken.	111	q1.normalize();
168	2/4 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 111 times. ✗ Branch 5 not taken.	111	pointX_t p0 = point3_t::Random();
169	2/4 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 111 times. ✗ Branch 5 not taken.	111	pointX_t p1 = point3_t::Random();
170
171	5/10 ✓ Branch 1 taken 111 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 111 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 111 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 111 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 111 times. ✗ Branch 14 not taken.	111	curve_SE3_ptr_t res(new ndcurves::SE3Curve_t(p0, p1, q0, q1, min, max));
172		222	return res;
173		111	}
174
175		36	void addRandomPointsValues(ContactPhase& cp) {
176	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t c_init = point3_t::Random();
177	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t dc_init = point3_t::Random();
178			pointX_t ddc_init =
179	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t::Random(); // test with point X for automatic conversion
180	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t L_init = point3_t::Random();
181	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t dL_init = point3_t::Random();
182	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t q_init = point12_t::Random();
183	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t c_final = point3_t::Random();
184	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t dc_final = point3_t::Random();
185	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t ddc_final = point3_t::Random();
186	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t L_final = point3_t::Random();
187	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	point3_t dL_final = point3_t::Random();
188	2/4 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 36 times. ✗ Branch 5 not taken.	36	pointX_t q_final = point12_t::Random();
189	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_c_init = c_init;
190	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_dc_init = dc_init;
191	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_ddc_init = ddc_init;
192	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_L_init = L_init;
193	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_dL_init = dL_init;
194	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_q_init = q_init;
195	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_c_final = c_final;
196	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_dc_final = dc_final;
197	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_ddc_final = ddc_final;
198	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_L_final = L_final;
199	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_dL_final = dL_final;
200	1/2 ✓ Branch 1 taken 36 times. ✗ Branch 2 not taken.	36	cp.m_q_final = q_final;
201		36	}
202
203		35	void addRandomCurvesValues(ContactPhase& cp) {
204	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t q = buildRandomPolynomial12D();
205	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t dq = buildRandomPolynomial12D();
206	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t ddq = buildRandomPolynomial12D();
207	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t tau = buildRandomPolynomial12D();
208	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t c = buildRandomPolynomial3D();
209	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t dc = buildRandomPolynomial3D();
210	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t ddc = buildRandomPolynomial3D();
211	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t L = buildRandomPolynomial3D();
212	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t dL = buildRandomPolynomial3D();
213	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t wrench = buildRandomPolynomial3D();
214	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_ptr_t zmp = buildRandomPolynomial3D();
215	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	35	curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1, 5.5);
216		35	cp.m_q = q;
217		35	cp.m_dq = dq;
218		35	cp.m_ddq = ddq;
219		35	cp.m_tau = tau;
220		35	cp.m_c = c;
221		35	cp.m_dc = dc;
222		35	cp.m_ddc = ddc;
223		35	cp.m_L = L;
224		35	cp.m_dL = dL;
225		35	cp.m_wrench = wrench;
226		35	cp.m_zmp = zmp;
227		35	cp.m_root = root;
228		35	}
229
230		35	void addRandomContacts(ContactPhase& cp) {
231	4/8 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 35 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 35 times. ✗ Branch 13 not taken.	35	cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
232	4/8 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 35 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 35 times. ✗ Branch 13 not taken.	35	cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
233		35	}
234
235		35	void addRandomForcesTrajs(ContactPhase& cp) {
236	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addContactForceTrajectory("right_hand", buildRandomPolynomial12D());
237	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addContactForceTrajectory("left_foot", buildRandomPolynomial12D());
238	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addContactNormalForceTrajectory("right_hand", buildRandomPolynomial1D());
239	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addContactNormalForceTrajectory("left_foot", buildRandomPolynomial1D());
240		35	}
241
242		35	void addRandomEffectorTrajectories(ContactPhase& cp) {
243	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addEffectorTrajectory("left_hand", buildRandomSE3LinearTraj(0, 2));
244	2/4 ✓ Branch 3 taken 35 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 35 times. ✗ Branch 7 not taken.	35	cp.addEffectorTrajectory("right_foot", buildRandomSE3LinearTraj(0, 2));
245		35	}
246
247		30	ContactPhase buildRandomContactPhase(const double min, const double max) {
248		30	ContactPhase cp(min, max);
249	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	30	addRandomPointsValues(cp);
250	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	30	addRandomCurvesValues(cp);
251	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	30	addRandomContacts(cp);
252	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	30	addRandomForcesTrajs(cp);
253	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	30	addRandomEffectorTrajectories(cp);
254		30	return cp;
255			}
256
257		5	ContactPhase buildRandomContactPhase() {
258		5	ContactPhase cp;
259	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	addRandomPointsValues(cp);
260	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	addRandomCurvesValues(cp);
261	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	addRandomContacts(cp);
262	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	addRandomForcesTrajs(cp);
263	1/2 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken.	5	addRandomEffectorTrajectories(cp);
264		5	return cp;
265			}
266
267		1	void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2) {
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301	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	1	BOOST_CHECK((*cp1.m_wrench)(cp2.m_wrench->min()) ==
302			(*cp2.m_wrench)(cp2.m_wrench->min()));
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305			.isApprox((*cp2.m_root)(cp2.m_root->min())));
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319	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 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 33 not taken. ✓ Branch 34 taken 1 times.	1	BOOST_CHECK(cp1.contactNormalForces() == cp2.contactNormalForces());
320	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 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 33 not taken. ✓ Branch 34 taken 1 times.	1	BOOST_CHECK(cp1.effectorTrajectories() == cp2.effectorTrajectories());
321	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 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 33 not taken. ✓ Branch 34 taken 1 times.	1	BOOST_CHECK(cp1.effectorsInContact() == cp2.effectorsInContact());
322	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 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 33 not taken. ✓ Branch 34 taken 1 times.	1	BOOST_CHECK(cp1.contactPatches() == cp2.contactPatches());
323	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	const ContactPhase::t_strings eeNames = cp2.effectorsInContact();
324		1	for (ContactPhase::t_strings::const_iterator ee = eeNames.begin();
325	2/2 ✓ Branch 3 taken 2 times. ✓ Branch 4 taken 1 times.	3	ee != eeNames.end(); ++ee) {
326	7/14 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 2 times.	2	BOOST_CHECK(cp2.isEffectorInContact(*ee));
327	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 2 times.	2	BOOST_CHECK(cp1.contactPatch(ee) == cp2.contactPatch(ee));
328	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	2	if (cp1.contactForces().count(*ee)) {
329	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	2	BOOST_CHECK(cp2.contactForces().count(*ee));
330	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 2 times.	2	BOOST_CHECK(
331			cp1.contactForces(ee)->isApprox(cp2.contactForces(ee).get()));
332	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 36 taken 2 times. ✗ Branch 37 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2 times.	2	BOOST_CHECK((cp1.contactForces(ee))(cp1.contactForces(*ee)->min()) ==
333			(cp2.contactForces(ee))(cp2.contactForces(*ee)->min()));
334	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 36 taken 2 times. ✗ Branch 37 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2 times.	2	BOOST_CHECK((cp1.contactForces(ee))(cp1.contactForces(*ee)->max()) ==
335			(cp2.contactForces(ee))(cp2.contactForces(*ee)->max()));
336			}
337	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	2	if (cp1.contactNormalForces().count(*ee)) {
338	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	2	BOOST_CHECK(cp2.contactNormalForces().count(*ee));
339	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 2 times.	2	BOOST_CHECK(cp1.contactNormalForces(*ee)->isApprox(
340			cp2.contactNormalForces(*ee).get()));
341	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 36 taken 2 times. ✗ Branch 37 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2 times.	2	BOOST_CHECK(
342			(cp1.contactNormalForces(ee))(
343			cp1.contactNormalForces(*ee)->min()) ==
344			(cp2.contactNormalForces(ee))(cp2.contactNormalForces(*ee)->min()));
345	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 36 taken 2 times. ✗ Branch 37 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✗ Branch 63 not taken. ✓ Branch 64 taken 2 times.	2	BOOST_CHECK(
346			(cp1.contactNormalForces(ee))(
347			cp1.contactNormalForces(*ee)->max()) ==
348			(cp2.contactNormalForces(ee))(cp2.contactNormalForces(*ee)->max()));
349			}
350			}
351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	const ContactPhase::CurveSE3Map_t trajMap = cp2.effectorTrajectories();
352		1	for (ContactPhase::CurveSE3Map_t::const_iterator mit = trajMap.begin();
353	2/2 ✓ Branch 3 taken 2 times. ✓ Branch 4 taken 1 times.	3	mit != trajMap.end(); ++mit) {
354	8/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 2 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 2 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	2	BOOST_CHECK(cp2.effectorTrajectories().count(mit->first));
355	9/18 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 21 taken 2 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 2 times.	2	BOOST_CHECK(cp1.effectorTrajectories(mit->first)
356			->isApprox(cp2.effectorTrajectories(mit->first).get()));
357	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 32 taken 2 times. ✗ Branch 33 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 41 taken 2 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 2 times. ✗ Branch 45 not taken. ✓ Branch 47 taken 2 times. ✗ Branch 48 not taken. ✓ Branch 50 taken 2 times. ✗ Branch 51 not taken. ✓ Branch 53 taken 2 times. ✗ Branch 54 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 2 times.	2	BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(
358			cp1.effectorTrajectories(mit->first)->min())
359			.isApprox((*cp2.effectorTrajectories(mit->first))(
360			cp2.effectorTrajectories(mit->first)->min())));
361	15/30 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 2 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 2 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 2 times. ✗ Branch 28 not taken. ✓ Branch 32 taken 2 times. ✗ Branch 33 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 41 taken 2 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 2 times. ✗ Branch 45 not taken. ✓ Branch 47 taken 2 times. ✗ Branch 48 not taken. ✓ Branch 50 taken 2 times. ✗ Branch 51 not taken. ✓ Branch 53 taken 2 times. ✗ Branch 54 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 2 times.	2	BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(
362			cp1.effectorTrajectories(mit->first)->max())
363			.isApprox((*cp2.effectorTrajectories(mit->first))(
364			cp2.effectorTrajectories(mit->first)->max())));
365			}
366		1	}
367
368			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
369
370	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(contact_model) {
371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp;
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 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_CHECK(mp.m_mu == -1.);
373	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_CHECK(mp.m_contact_type == ContactType::CONTACT_UNDEFINED);
374	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.	2	BOOST_CHECK(mp.num_contact_points() == 1);
375	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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(mp.contact_points_positions().cols() == 1);
376	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp.contact_points_positions().isZero());
377
378		2	const double mu = 0.3;
379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_mu(mu);
380	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_CHECK(mp_mu.m_mu == mu);
381	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_CHECK(mp_mu.m_contact_type == ContactType::CONTACT_UNDEFINED);
382	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.	2	BOOST_CHECK(mp_mu.num_contact_points() == 1);
383	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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(mp_mu.contact_points_positions().cols() == 1);
384	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp_mu.contact_points_positions().isZero());
385
386	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp1(mu, ContactType::CONTACT_PLANAR);
387	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_CHECK(mp1.m_mu == mu);
388	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_CHECK(mp1.m_contact_type == ContactType::CONTACT_PLANAR);
389	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.	2	BOOST_CHECK(mp1.num_contact_points() == 1);
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391	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp1.contact_points_positions().isZero());
392
393	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp2(mp1);
394	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_CHECK(mp2.m_mu == mu);
395	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_CHECK(mp2.m_contact_type == ContactType::CONTACT_PLANAR);
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398	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp2.contact_points_positions().isZero());
399		2	}
400
401	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(contact_model_points_positions) {
402		2	const double mu = 0.3;
403	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp(mu, ContactType::CONTACT_PLANAR);
404
405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp.num_contact_points(4);
406	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(mp.num_contact_points(), 4);
407	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 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_CHECK_EQUAL(mp.contact_points_positions().cols(), 4);
408	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp.contact_points_positions().isZero());
409
410	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions = Matrix3X::Random(3, 6);
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp.contact_points_positions(positions);
412	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(mp.num_contact_points(), 6);
413	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 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_CHECK_EQUAL(mp.contact_points_positions().cols(), 6);
414	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp.contact_points_positions().isApprox(positions));
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix6X generators = mp.generatorMatrix();
416	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(generators.rows(), 6);
417	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(generators.cols(), 6 * 3);
418
419	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp.num_contact_points(2);
420	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(mp.num_contact_points(), 2);
421	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 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_CHECK_EQUAL(mp.contact_points_positions().cols(), 2);
422	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(mp.contact_points_positions().isZero());
423		2	}
424
425	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(contact_model_operator_equal) {
426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp1(0.3, ContactType::CONTACT_PLANAR);
427	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions = Matrix3X::Random(3, 4);
428	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
429
430	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp2(0.3, ContactType::CONTACT_PLANAR);
431	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp2.contact_points_positions(positions);
432
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp3(mp1);
434
435	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(mp1 == mp2);
436	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(mp1 == mp3);
437
438	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_n1(0.3, ContactType::CONTACT_PLANAR);
439	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_n2(1., ContactType::CONTACT_PLANAR);
440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
441	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_n3(0.3, ContactType::CONTACT_UNDEFINED);
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_n4(0.3, ContactType::CONTACT_PLANAR);
444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp_n4.num_contact_points(4);
445
446	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(mp1 != mp_n1);
447	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(mp1 != mp_n2);
448	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(mp1 != mp_n3);
449	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(mp1 != mp_n4);
450		2	}
451
452	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(contact_model_serialization) {
453	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp1(0.3, ContactType::CONTACT_PLANAR);
454	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions = Matrix3X::Random(3, 4);
455	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
456
457	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string fileName("fileTest_contactModel");
458	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	mp1.saveAsText(fileName + ".txt");
459	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_from_text;
460	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	mp_from_text.loadFromText(fileName + ".txt");
461	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(mp1 == mp_from_text);
462
463	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	mp1.saveAsXML(fileName + ".xml", "ContactModel");
464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_from_xml;
465	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	mp_from_xml.loadFromXML(fileName + ".xml", "ContactModel");
466	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(mp1 == mp_from_xml);
467
468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.saveAsBinary(fileName);
469	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp_from_bin;
470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp_from_bin.loadFromBinary(fileName);
471	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(mp1 == mp_from_bin);
472		2	}
473
474	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(contact_patch) {
475			// check default constructor :
476	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp;
477	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.	2	BOOST_CHECK(cp.placement() == SE3::Identity());
478	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.	2	BOOST_CHECK(cp.friction() == -1.);
479	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 p = SE3::Identity();
480	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	p.setRandom();
481	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	cp.placement() = p;
482	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.placement() == p);
483		2	cp.friction() = 0.7;
484	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.	2	BOOST_CHECK(cp.friction() == 0.7);
485
486			// constructor with placement :
487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	p.setRandom();
488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp1(p);
489	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp1.placement() == p);
490	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.	2	BOOST_CHECK(cp1.friction() == -1.);
491
492			// constructor with placement and friction
493	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	p.setRandom();
494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp2(p, 0.9);
495	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp2.placement() == p);
496	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.	2	BOOST_CHECK(cp2.friction() == 0.9);
497
498			// constructor with contact_model
499	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel cm(0.5, ContactType::CONTACT_PLANAR);
500	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cm.num_contact_points(4);
501	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	ContactPatch cp_with_model(p, cm);
502	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp_with_model.placement() == p);
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504	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.	2	BOOST_CHECK(cp_with_model.m_contact_model.num_contact_points() == 4);
505
506			// check comparison operator
507	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(cp1 != cp2);
508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp3(p, 0.9);
509	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(cp3 == cp2);
510		2	cp2.friction() = 0.1;
511	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(cp3 != cp2);
512
513			// copy constructor
514	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp4(cp3);
515	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(cp4 == cp3);
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517	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.	2	BOOST_CHECK(cp4.friction() == 0.9);
518	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp4.placement() = SE3::Identity();
519	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(cp3 != cp4);
520
521			// operator =
522	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp5 = cp4;
523	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(cp4 == cp5);
524		2	cp5.friction() = 2.;
525	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(cp4 != cp5);
526
527	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp6(cp4);
528	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(cp4 == cp6);
529	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ContactModel mp1(cp4.friction(), ContactType::CONTACT_PLANAR);
530	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions = Matrix3X::Random(3, 4);
531	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
532	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp6.m_contact_model = mp1;
533	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(cp4 != cp6);
534
535			// serialization :
536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp3.m_contact_model = mp1;
537	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string fileName("fileTest");
538	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp3.saveAsText(fileName);
539	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp_from_text;
540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp_from_text.loadFromText(fileName);
541	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(cp3 == cp_from_text);
542
543	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp3.saveAsXML(fileName, "ContactPatch");
544	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp_from_xml;
545	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp_from_xml.loadFromXML(fileName, "ContactPatch");
546	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(cp3 == cp_from_xml);
547
548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp3.saveAsBinary(fileName);
549	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPatch cp_from_bin;
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp_from_bin.loadFromBinary(fileName);
551	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(cp3 == cp_from_bin);
552		2	}
553
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555			// default constructor
556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1;
557			// test timings setter/getter
558	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.	2	BOOST_CHECK(cp1.timeInitial() == -1);
559	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.	2	BOOST_CHECK(cp1.timeFinal() == -1);
560	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.	2	BOOST_CHECK(cp1.duration() == 0);
561			// cp1.timeInitial() = 2; // should not compile : only const return for times
562			// cp1.timeInitial() = 2; // should not compile : only const return for times
563		2	cp1.timeInitial(0.5);
564	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp1.timeFinal(2.);
565	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(cp1.timeInitial() == 0.5);
566	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.	2	BOOST_CHECK(cp1.timeFinal() == 2.);
567	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(cp1.duration() == 1.5);
568	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp1.duration(3.);
569	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.	2	BOOST_CHECK(cp1.timeInitial() == 0.5);
570	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.	2	BOOST_CHECK(cp1.timeFinal() == 3.5);
571	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.	2	BOOST_CHECK(cp1.duration() == 3.);
572	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.	2	BOOST_CHECK(cp1.numContacts() == 0);
573
574			// check exeptions related to wrong timing
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577			// constructor with timings, should throw :
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580
581			// Constructor with timings :
582	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2(0.5, 2.);
583	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.	2	BOOST_CHECK(cp2.timeInitial() == 0.5);
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586
587			// Check contacts creation / removal
588	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch patchL(SE3::Identity().setRandom());
589	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	bool newContact = cp2.addContact("left_leg", patchL);
590	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_CHECK(newContact);
591	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
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597
598	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch patchR(SE3::Identity().setRandom());
599	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	newContact = cp2.addContact("right_leg", patchR);
600	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_CHECK(newContact);
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607
608	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	cp2.contactPatches().insert(std::pair<std::string, ContactPatch>(
609			"other", patchR)); // Why does it compile ? there is only const getter
610	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp2.contactPatches().count("other") ==
611			0); // previous line should have no effect, only const getter
612	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(!cp2.isEffectorInContact("other"));
613	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch patchR2(SE3::Identity().setRandom(), 1.5);
614			// cp2.contactPatches
615
616	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	newContact = cp2.addContact("left_leg",
617	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.	4	ContactPatch(SE3::Identity().setRandom(), 0.5));
618	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_CHECK(!newContact);
619	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
620	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.isEffectorInContact("right_leg"));
621	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(cp2.contactPatch("left_leg") != patchL);
622	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.	2	BOOST_CHECK(cp2.numContacts() == 2);
623
624	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	bool exist = cp2.removeContact("right_leg");
625	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_CHECK(exist);
626	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
627	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(!cp2.isEffectorInContact("right_leg"));
628	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.	2	BOOST_CHECK(cp2.numContacts() == 1);
629	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	exist = cp2.removeContact("other");
630	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_CHECK(!exist);
631	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	exist = cp2.removeContact("right_leg");
632	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_CHECK(!exist);
633
634			// check adding forces trajectory :
635	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t f0 = point12_t::Random();
636	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t f1 = point12_t::Random();
637		2	const double min = 0.5;
638		2	const double max = 2.;
639	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t force12d(new ndcurves::polynomial_t(f0, f1, min, max));
640	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	bool newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
641	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_CHECK(newTraj);
642	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
643	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_CHECK(!newTraj);
644	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((*cp2.contactForces()["left_leg"])(min) == f0);
645	12/24 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 48 not taken. ✓ Branch 49 taken 1 times.	2	BOOST_CHECK((cp2.contactForces()["left_leg"])(max) == (force12d)(max));
646	12/24 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 48 not taken. ✓ Branch 49 taken 1 times.	2	BOOST_CHECK((cp2.contactForces()["left_leg"])(1.2) == (force12d)(1.2));
647	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK((*cp2.contactForces("left_leg"))(min) == f0);
648	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactForces("left_leg"))(max) == (force12d)(max));
649	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactForces("left_leg"))(1.2) == (force12d)(1.2));
650	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t f0_1 = point12_t::Random();
651	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t f1_1 = point12_t::Random();
652	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t force12d_1(new ndcurves::polynomial_t(f0_1, f1_1, min, max));
653	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	cp2.contactForces().insert(std::pair<std::string, curve_ptr_t>(
654			"right_leg",
655			force12d_1)); // should not have any effect only const getter
656	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp2.contactForces().count("right_leg") == 0);
657	3/6 ✓ 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.	2	cp2.contactForces().erase("left_leg"); // should not have any effect
658	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK((*cp2.contactForces("left_leg"))(min) == f0);
659	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✗ Branch 29 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✗ Branch 35 not taken. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✓ Branch 68 taken 1 times. ✗ Branch 69 not taken. ✗ Branch 73 not taken. ✓ Branch 74 taken 1 times.	10	BOOST_CHECK_THROW(
660			cp2.addContactForceTrajectory("right_leg", force12d),
661			std::invalid_argument); // right leg is not in contact, cannot add force
662	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken. ✗ Branch 30 not taken. ✗ Branch 31 not taken. ✗ Branch 33 not taken. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✗ Branch 39 not taken. ✗ Branch 41 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 60 taken 1 times. ✗ Branch 61 not taken. ✓ Branch 63 taken 1 times. ✗ Branch 64 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✗ Branch 71 not taken. ✓ Branch 72 taken 1 times.	8	BOOST_CHECK_THROW(cp2.contactForces("right_leg"), std::invalid_argument);
663
664			// check with piecewise curve :
665	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t force_C2 = buildPiecewisePolynomialC2();
666	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp2.addContactForceTrajectory("left_leg", force_C2);
667	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactForces("left_leg"))(1.) == (force_C2)(1.));
668	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactForces("left_leg"))(10.) == (force_C2)(10.));
669	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactForces("left_leg"))(5.7) == (force_C2)(5.7));
670
671	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pointX_t nf0(1);
672	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nf0 << 56.3;
673	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pointX_t nf1(1);
674	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nf1 << 5893.2;
675	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t force1d(new ndcurves::polynomial_t(nf0, nf1, min, max));
676	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
677	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_CHECK(newTraj);
678	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
679	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_CHECK(!newTraj);
680	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((*cp2.contactNormalForces()["left_leg"])(min) == nf0);
681	12/24 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 48 not taken. ✓ Branch 49 taken 1 times.	2	BOOST_CHECK((cp2.contactNormalForces()["left_leg"])(max) == (force1d)(max));
682	12/24 ✓ 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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 48 not taken. ✓ Branch 49 taken 1 times.	2	BOOST_CHECK((cp2.contactNormalForces()["left_leg"])(1.2) == (force1d)(1.2));
683	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(min) == nf0);
684	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactNormalForces("left_leg"))(max) == (force1d)(max));
685	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 1 times.	2	BOOST_CHECK((cp2.contactNormalForces("left_leg"))(1.2) == (force1d)(1.2));
686	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pointX_t nf0_1(1);
687	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nf0_1 << 147.2;
688	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pointX_t nf1_1(1);
689	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nf1_1 << 562;
690	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t force1d_1(new ndcurves::polynomial_t(nf0_1, nf1_1, min, max));
691	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	cp2.contactNormalForces().insert(std::pair<std::string, curve_ptr_t>(
692			"right_leg", force1d_1)); // should not have any effect only const getter
693	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp2.contactNormalForces().count("right_leg") == 0);
694	3/6 ✓ 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.	2	cp2.contactNormalForces().erase("left_leg"); // should not have any effect
695	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times.	2	BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(min) == nf0);
696	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken. ✗ Branch 30 not taken. ✗ Branch 31 not taken. ✗ Branch 33 not taken. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✗ Branch 39 not taken. ✗ Branch 41 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 60 taken 1 times. ✗ Branch 61 not taken. ✓ Branch 63 taken 1 times. ✗ Branch 64 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✗ Branch 71 not taken. ✓ Branch 72 taken 1 times.	8	BOOST_CHECK_THROW(cp2.contactNormalForces("right_leg"),
697			std::invalid_argument);
698	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✗ Branch 29 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✗ Branch 35 not taken. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✓ Branch 68 taken 1 times. ✗ Branch 69 not taken. ✗ Branch 73 not taken. ✓ Branch 74 taken 1 times.	10	BOOST_CHECK_THROW(
699			cp2.addContactNormalForceTrajectory("right_leg", force12d),
700			std::invalid_argument); // right leg is not in contact, cannot add force
701	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✗ Branch 29 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✗ Branch 35 not taken. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✓ Branch 68 taken 1 times. ✗ Branch 69 not taken. ✗ Branch 73 not taken. ✓ Branch 74 taken 1 times.	10	BOOST_CHECK_THROW(cp2.addContactNormalForceTrajectory("left_leg", force12d),
702			std::invalid_argument); // should be of dimension 1
703
704			// Check effector trajectory :
705	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_SE3_ptr_t effR = buildPiecewiseSE3();
706	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addEffectorTrajectory("right_leg", effR);
707	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_CHECK(newTraj);
708	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addEffectorTrajectory("right_leg", effR);
709	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_CHECK(!newTraj);
710	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
711			(cp2.effectorTrajectories()["right_leg"])(min).isApprox((effR)(min)));
712	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
713			(cp2.effectorTrajectories()["right_leg"])(max).isApprox((effR)(max)));
714	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
715			(cp2.effectorTrajectories()["right_leg"])(1.2).isApprox((effR)(1.2)));
716	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 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 44 not taken. ✓ Branch 45 taken 1 times.	2	BOOST_CHECK(
717			(cp2.effectorTrajectories("right_leg"))(min).isApprox((effR)(min)));
718	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 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 44 not taken. ✓ Branch 45 taken 1 times.	2	BOOST_CHECK(
719			(cp2.effectorTrajectories("right_leg"))(max).isApprox((effR)(max)));
720	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 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 44 not taken. ✓ Branch 45 taken 1 times.	2	BOOST_CHECK(
721			(cp2.effectorTrajectories("right_leg"))(1.2).isApprox((effR)(1.2)));
722	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken. ✗ Branch 30 not taken. ✗ Branch 31 not taken. ✗ Branch 33 not taken. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✗ Branch 39 not taken. ✗ Branch 41 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 60 taken 1 times. ✗ Branch 61 not taken. ✓ Branch 63 taken 1 times. ✗ Branch 64 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✗ Branch 71 not taken. ✓ Branch 72 taken 1 times.	8	BOOST_CHECK_THROW(cp2.effectorTrajectories("left_leg"),
723			std::invalid_argument);
724	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 13 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✗ Branch 29 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✗ Branch 35 not taken. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times. ✓ Branch 53 taken 1 times. ✗ Branch 54 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✓ Branch 68 taken 1 times. ✗ Branch 69 not taken. ✗ Branch 73 not taken. ✓ Branch 74 taken 1 times.	10	BOOST_CHECK_THROW(
725			cp2.addEffectorTrajectory("left_leg", effR),
726			std::invalid_argument); // right leg is not in contact, cannot add force
727			// cp2.addEffectorTrajectory("right_leg",force12d); // should not compile :
728			// not the right return type for the curve
729
730			// check setting init / final data :
731			// public members :
732			/*
733			point3_t m_c_init;
734			point3_t m_dc_init;
735			point3_t m_ddc_init;
736			point3_t m_L_init;
737			point3_t m_dL_init;
738			pointX_t m_q_init;
739			point3_t m_c_final;
740			point3_t m_dc_final;
741			point3_t m_ddc_final;
742			point3_t m_L_final;
743			point3_t m_dL_final;
744			pointX_t m_q_final;
745			*/
746
747	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t c_init = point3_t::Random();
748	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t dc_init = point3_t::Random();
749			pointX_t ddc_init =
750	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t::Random(); // test with point X for automatic conversion
751	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t L_init = point3_t::Random();
752	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t dL_init = point3_t::Random();
753	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q_init = point12_t::Random();
754	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t c_final = point3_t::Random();
755	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t dc_final = point3_t::Random();
756	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t ddc_final = point3_t::Random();
757	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t L_final = point3_t::Random();
758	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t dL_final = point3_t::Random();
759	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q_final = point12_t::Random();
760	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_c_init = c_init;
761	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_dc_init = dc_init;
762	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_ddc_init = ddc_init;
763	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_L_init = L_init;
764	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_dL_init = dL_init;
765	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_q_init = q_init;
766	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_c_final = c_final;
767	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_dc_final = dc_final;
768	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_ddc_final = ddc_final;
769	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_L_final = L_final;
770	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_dL_final = dL_final;
771	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.m_q_final = q_final;
772	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(cp2.m_c_init == c_init);
773	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(cp2.m_dc_init == dc_init);
774	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(cp2.m_ddc_init == ddc_init);
775	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(cp2.m_L_init == L_init);
776	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(cp2.m_dL_init == dL_init);
777	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(cp2.m_q_init == q_init);
778	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(cp2.m_c_final == c_final);
779	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(cp2.m_dc_final == dc_final);
780	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(cp2.m_ddc_final == ddc_final);
781	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(cp2.m_L_final == L_final);
782	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(cp2.m_dL_final == dL_final);
783	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(cp2.m_q_final == q_final);
784
785			// check adding trajectory to public members :
786			/*
787			curve_ptr m_q;
788			curve_ptr m_dq;
789			curve_ptr m_ddq;
790			curve_ptr m_tau;
791			curve_ptr m_c;
792			curve_ptr m_dc;
793			curve_ptr m_ddc;
794			curve_ptr m_L;
795			curve_ptr m_dL;
796			curve_ptr m_wrench;
797			curve_ptr m_zmp;
798			curve_SE3_ptr_t m_root;
799			*/
800			{ // inner scope to check that the curves are not destroyed
801	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t q = buildRandomPolynomial12D();
802	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t dq = buildRandomPolynomial12D();
803	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t ddq = buildRandomPolynomial12D();
804	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t tau = buildRandomPolynomial12D();
805	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t c = buildRandomPolynomial3D();
806	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t dc = buildRandomPolynomial3D();
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t ddc = buildRandomPolynomial3D();
808	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t L = buildRandomPolynomial3D();
809	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t dL = buildRandomPolynomial3D();
810	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t wrench = buildRandomPolynomial3D();
811	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t zmp = buildRandomPolynomial3D();
812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1, 5.5);
813		2	cp2.m_q = q;
814		2	cp2.m_dq = dq;
815		2	cp2.m_ddq = ddq;
816		2	cp2.m_tau = tau;
817		2	cp2.m_c = c;
818		2	cp2.m_dc = dc;
819		2	cp2.m_ddc = ddc;
820		2	cp2.m_L = L;
821		2	cp2.m_dL = dL;
822		2	cp2.m_wrench = wrench;
823		2	cp2.m_zmp = zmp;
824		2	cp2.m_root = root;
825
826	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_q)(q->min()) == (q)(q->min()));
827	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dq)(dq->min()) == (dq)(dq->min()));
828	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_ddq)(ddq->min()) == (ddq)(ddq->min()));
829	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_tau)(tau->min()) == (tau)(tau->min()));
830	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_c)(c->min()) == (c)(c->min()));
831	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dc)(dc->min()) == (dc)(dc->min()));
832	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_ddc)(ddc->min()) == (ddc)(ddc->min()));
833	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_L)(L->min()) == (L)(L->min()));
834	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dL)(dL->min()) == (dL)(dL->min()));
835	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_wrench)(wrench->min()) == (wrench)(wrench->min()));
836	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_zmp)(zmp->min()) == (zmp)(zmp->min()));
837	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK((cp2.m_root)(root->min()).isApprox((root)(root->min())));
838	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_q)(q->max()) == (q)(q->max()));
839	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dq)(dq->max()) == (dq)(dq->max()));
840	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_ddq)(ddq->max()) == (ddq)(ddq->max()));
841	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_tau)(tau->max()) == (tau)(tau->max()));
842	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_c)(c->max()) == (c)(c->max()));
843	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dc)(dc->max()) == (dc)(dc->max()));
844	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_ddc)(ddc->max()) == (ddc)(ddc->max()));
845	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_L)(L->max()) == (L)(L->max()));
846	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_dL)(dL->max()) == (dL)(dL->max()));
847	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_wrench)(wrench->max()) == (wrench)(wrench->max()));
848	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp2.m_zmp)(zmp->max()) == (zmp)(zmp->max()));
849	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK((cp2.m_root)(root->max()).isApprox((root)(root->max())));
850		2	}
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852			cp2.m_q->operator()(cp2.m_q->min())); // check that the curves still
853			// exist after leaving the scope
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855			cp2.m_dq->operator()(cp2.m_dq->min())); // check that the curves still
856			// exist after leaving the scope
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858			cp2.m_ddq->min())); // check that the curves still exist after leaving
859			// the scope
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861			cp2.m_tau->min())); // check that the curves still exist after leaving
862			// the scope
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864			cp2.m_c->operator()(cp2.m_c->min())); // check that the curves still
865			// exist after leaving the scope
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867			cp2.m_dc->operator()(cp2.m_dc->min())); // check that the curves still
868			// exist after leaving the scope
869	9/32 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 43 not taken. ✗ Branch 44 not taken. ✗ Branch 48 not taken. ✗ Branch 49 not taken. ✗ Branch 51 not taken. ✗ Branch 52 not taken. ✗ Branch 54 not taken. ✗ Branch 55 not taken. ✗ Branch 59 not taken. ✗ Branch 60 not taken. ✗ Branch 62 not taken. ✗ Branch 63 not taken.	2	BOOST_CHECK_NO_THROW(cp2.m_ddc->operator()(
870			cp2.m_ddc->min())); // check that the curves still exist after leaving
871			// the scope
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873			cp2.m_L->operator()(cp2.m_L->min())); // check that the curves still
874			// exist after leaving the scope
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876			cp2.m_dL->operator()(cp2.m_dL->min())); // check that the curves still
877			// exist after leaving the scope
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879			cp2.m_wrench->min())); // check that the curves still exist after leaving
880			// the scope
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882			cp2.m_root->min())); // check that the curves still exist after leaving
883			// the scope
884	9/32 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 39 not taken. ✗ Branch 40 not taken. ✗ Branch 43 not taken. ✗ Branch 44 not taken. ✗ Branch 48 not taken. ✗ Branch 49 not taken. ✗ Branch 51 not taken. ✗ Branch 52 not taken. ✗ Branch 54 not taken. ✗ Branch 55 not taken. ✗ Branch 59 not taken. ✗ Branch 60 not taken. ✗ Branch 62 not taken. ✗ Branch 63 not taken.	2	BOOST_CHECK_NO_THROW(cp2.m_zmp->operator()(
885			cp2.m_zmp->min())); // check that the curves still exist after leaving
886			// the scope
887
888			// add more contact and trajectories :
889	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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	cp2.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
890	3/6 ✓ 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.	2	cp2.addContactForceTrajectory("right_hand", buildRandomPolynomial12D());
891	3/6 ✓ 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.	2	cp2.addContactNormalForceTrajectory("right_hand", buildRandomPolynomial1D());
892		2	int num_ctc = 0;
893	3/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 7 taken 2 times. ✓ Branch 8 taken 1 times.	6	for (auto const& mit : cp2.contactForces()) {
894	9/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✓ Branch 15 taken 1 times. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 2 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 2 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 2 times.	4	BOOST_CHECK(mit.first == "right_hand" \|\| mit.first == "left_leg");
895		4	num_ctc++;
896		2	}
897	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_CHECK(num_ctc == 2);
898
899			curve_SE3_ptr_t eff_knee(
900	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	buildRandomSE3LinearTraj(cp2.timeInitial(), cp2.timeFinal()));
901	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	double min_knee = eff_knee->min();
902	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	double max_knee = eff_knee->max();
903	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	newTraj = cp2.addEffectorTrajectory("knee", eff_knee);
904	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_CHECK(newTraj);
905	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK((*cp2.effectorTrajectories()["knee"])(min_knee).isApprox(
906			(*eff_knee)(min_knee)));
907	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK((*cp2.effectorTrajectories()["knee"])(max_knee).isApprox(
908			(*eff_knee)(max_knee)));
909	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
910			(cp2.effectorTrajectories()["right_leg"])(min).isApprox((effR)(min)));
911	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
912			(cp2.effectorTrajectories()["right_leg"])(max).isApprox((effR)(max)));
913	12/24 ✓ 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 25 taken 1 times. ✗ Branch 26 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times.	2	BOOST_CHECK(
914			(cp2.effectorTrajectories()["right_leg"])(1.2).isApprox((effR)(1.2)));
915	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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(cp2.effectorTrajectories().size() == 2);
916		2	int num_eff_traj = 0;
917	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const ContactPhase::CurveSE3Map_t trajMap = cp2.effectorTrajectories();
918		2	for (ContactPhase::CurveSE3Map_t::const_iterator mit = trajMap.begin();
919	2/2 ✓ Branch 2 taken 2 times. ✓ Branch 3 taken 1 times.	6	mit != trajMap.end(); ++mit) {
920	9/16 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✓ Branch 16 taken 1 times. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 2 times.	4	BOOST_CHECK(mit->first == "knee" \|\| mit->first == "right_leg");
921		4	num_eff_traj++;
922			}
923	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_CHECK(num_eff_traj == 2);
924	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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(cp2.effectorsWithTrajectory().size() == 2);
925	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.effectorHaveAtrajectory("knee"));
926	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cp2.effectorHaveAtrajectory("right_leg"));
927	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(!cp2.effectorHaveAtrajectory("left_leg"));
928
929			// check copy constructor and operator ==
930	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp4(cp2);
931	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp5 = cp2;
932	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(cp2 != cp1);
933	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(cp4 == cp2);
934	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(cp5 == cp2);
935	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(cp4.m_c_init == c_init);
936	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(cp4.m_dc_init == dc_init);
937	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(cp4.m_ddc_init == ddc_init);
938	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(cp4.m_L_init == L_init);
939	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(cp4.m_dL_init == dL_init);
940	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(cp4.m_q_init == q_init);
941	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(cp4.m_c_final == c_final);
942	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(cp4.m_dc_final == dc_final);
943	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(cp4.m_ddc_final == ddc_final);
944	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(cp4.m_L_final == L_final);
945	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(cp4.m_dL_final == dL_final);
946	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(cp4.m_q_final == q_final);
947	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(cp5.m_c_init == c_init);
948	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(cp5.m_dc_init == dc_init);
949	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(cp5.m_ddc_init == ddc_init);
950	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(cp5.m_L_init == L_init);
951	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(cp5.m_dL_init == dL_init);
952	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(cp5.m_q_init == q_init);
953	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(cp5.m_c_final == c_final);
954	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(cp5.m_dc_final == dc_final);
955	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(cp5.m_ddc_final == ddc_final);
956	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(cp5.m_L_final == L_final);
957	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(cp5.m_dL_final == dL_final);
958	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(cp5.m_q_final == q_final);
959	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_q)(cp2.m_q->min()) == (cp2.m_q)(cp2.m_q->min()));
960	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_dq)(cp2.m_dq->min()) == (cp2.m_dq)(cp2.m_dq->min()));
961	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_ddq)(cp2.m_ddq->min()) == (cp2.m_ddq)(cp2.m_ddq->min()));
962	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_tau)(cp2.m_tau->min()) == (cp2.m_tau)(cp2.m_tau->min()));
963	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_c)(cp2.m_c->min()) == (cp2.m_c)(cp2.m_c->min()));
964	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_dc)(cp2.m_dc->min()) == (cp2.m_dc)(cp2.m_dc->min()));
965	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_ddc)(cp2.m_ddc->min()) == (cp2.m_ddc)(cp2.m_ddc->min()));
966	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_L)(cp2.m_L->min()) == (cp2.m_L)(cp2.m_L->min()));
967	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_dL)(cp2.m_dL->min()) == (cp2.m_dL)(cp2.m_dL->min()));
968	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((*cp5.m_wrench)(cp2.m_wrench->min()) ==
969			(*cp2.m_wrench)(cp2.m_wrench->min()));
970	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 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 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK((cp5.m_zmp)(cp2.m_zmp->min()) == (cp2.m_zmp)(cp2.m_zmp->min()));
971	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK((*cp5.m_root)(cp2.m_root->min())
972			.isApprox((*cp2.m_root)(cp2.m_root->min())));
973	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(cp5.contactForces() == cp2.contactForces());
974	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(cp5.contactNormalForces() == cp2.contactNormalForces());
975	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(cp5.effectorTrajectories() == cp2.effectorTrajectories());
976	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(cp5.effectorsInContact() == cp2.effectorsInContact());
977	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 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(cp5.contactPatches() == cp2.contactPatches());
978	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactForces("left_leg") == cp2.contactForces("left_leg"));
979	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactNormalForces("left_leg") ==
980			cp2.contactNormalForces("left_leg"));
981	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactForces("right_hand") ==
982			cp2.contactForces("right_hand"));
983	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactNormalForces("right_hand") ==
984			cp2.contactNormalForces("right_hand"));
985	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.effectorTrajectories("right_leg") ==
986			cp2.effectorTrajectories("right_leg"));
987	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.effectorTrajectories("knee") ==
988			cp2.effectorTrajectories("knee"));
989	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactPatch("left_leg") == cp2.contactPatch("left_leg"));
990	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 1 times.	2	BOOST_CHECK(cp5.contactPatch("right_hand") == cp2.contactPatch("right_hand"));
991
992			// check operator != and ==
993	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t p = point3_t::Random();
994	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_c_init = p;
995	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(cp5 != cp2);
996	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(cp5.m_c_init == p);
997	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(cp2.m_c_init != p);
998	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
999	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(cp5 == cp2);
1000	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1001	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_dc_init = p;
1002	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(cp5 != cp2);
1003	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(cp5.m_dc_init == p);
1004	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(cp2.m_dc_init != p);
1005	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1006	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(cp5 == cp2);
1007	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1008	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_ddc_init = p;
1009	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(cp5 != cp2);
1010	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(cp5.m_ddc_init == p);
1011	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(cp2.m_ddc_init != p);
1012	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1013	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(cp5 == cp2);
1014	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1015	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_L_init = p;
1016	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(cp5 != cp2);
1017	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(cp5.m_L_init == p);
1018	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(cp2.m_L_init != p);
1019	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1020	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(cp5 == cp2);
1021	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1022	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_dL_init = p;
1023	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(cp5 != cp2);
1024	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(cp5.m_dL_init == p);
1025	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(cp2.m_dL_init != p);
1026	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1027	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(cp5 == cp2);
1028	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point12_t::Random();
1029	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_q_init = p;
1030	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(cp5 != cp2);
1031	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(cp5.m_q_init == p);
1032	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(cp2.m_q_init != p);
1033	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1034	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(cp5 == cp2);
1035	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1036	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_c_final = p;
1037	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(cp5 != cp2);
1038	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(cp5.m_c_final == p);
1039	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(cp2.m_c_final != p);
1040	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1041	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(cp5 == cp2);
1042	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1043	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_dc_final = p;
1044	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(cp5 != cp2);
1045	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(cp5.m_dc_final == p);
1046	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(cp2.m_dc_final != p);
1047	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1048	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(cp5 == cp2);
1049	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_ddc_final = p;
1051	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(cp5 != cp2);
1052	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(cp5.m_ddc_final == p);
1053	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(cp2.m_ddc_final != p);
1054	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1055	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(cp5 == cp2);
1056	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1057	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_L_final = p;
1058	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(cp5 != cp2);
1059	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(cp5.m_L_final == p);
1060	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(cp2.m_L_final != p);
1061	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1062	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(cp5 == cp2);
1063	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point3_t::Random();
1064	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_dL_final = p;
1065	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(cp5 != cp2);
1066	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(cp5.m_dL_final == p);
1067	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(cp2.m_dL_final != p);
1068	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1069	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(cp5 == cp2);
1070	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	p = point12_t::Random();
1071	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5.m_q_final = p;
1072	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(cp5 != cp2);
1073	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(cp5.m_q_final == p);
1074	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(cp2.m_q_final != p);
1075	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1076	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(cp5 == cp2);
1077
1078		2	curve_ptr_t curve;
1079	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial12D();
1080		2	cp5.m_q = curve;
1081	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(cp5 != cp2);
1082	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.	2	BOOST_CHECK(cp5.m_q == curve);
1083	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.	2	BOOST_CHECK(cp2.m_q != curve);
1084	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1085	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(cp5 == cp2);
1086	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial12D();
1087		2	cp5.m_dq = curve;
1088	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(cp5 != cp2);
1089	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.	2	BOOST_CHECK(cp5.m_dq == curve);
1090	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.	2	BOOST_CHECK(cp2.m_dq != curve);
1091	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1092	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(cp5 == cp2);
1093	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial12D();
1094		2	cp5.m_ddq = curve;
1095	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(cp5 != cp2);
1096	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.	2	BOOST_CHECK(cp5.m_ddq == curve);
1097	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.	2	BOOST_CHECK(cp2.m_ddq != curve);
1098	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1099	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(cp5 == cp2);
1100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial12D();
1101		2	cp5.m_tau = curve;
1102	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(cp5 != cp2);
1103	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.	2	BOOST_CHECK(cp5.m_tau == curve);
1104	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.	2	BOOST_CHECK(cp2.m_tau != curve);
1105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1106	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(cp5 == cp2);
1107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1108		2	cp5.m_c = curve;
1109	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(cp5 != cp2);
1110	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.	2	BOOST_CHECK(cp5.m_c == curve);
1111	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.	2	BOOST_CHECK(cp2.m_c != curve);
1112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1113	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(cp5 == cp2);
1114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1115		2	cp5.m_dc = curve;
1116	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(cp5 != cp2);
1117	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.	2	BOOST_CHECK(cp5.m_dc == curve);
1118	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.	2	BOOST_CHECK(cp2.m_dc != curve);
1119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1120	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(cp5 == cp2);
1121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1122		2	cp5.m_ddc = curve;
1123	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(cp5 != cp2);
1124	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.	2	BOOST_CHECK(cp5.m_ddc == curve);
1125	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.	2	BOOST_CHECK(cp2.m_ddc != curve);
1126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1127	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(cp5 == cp2);
1128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1129		2	cp5.m_L = curve;
1130	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(cp5 != cp2);
1131	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.	2	BOOST_CHECK(cp5.m_L == curve);
1132	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.	2	BOOST_CHECK(cp2.m_L != curve);
1133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1134	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(cp5 == cp2);
1135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1136		2	cp5.m_dL = curve;
1137	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(cp5 != cp2);
1138	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.	2	BOOST_CHECK(cp5.m_dL == curve);
1139	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.	2	BOOST_CHECK(cp2.m_dL != curve);
1140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1141	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(cp5 == cp2);
1142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1143		2	cp5.m_wrench = curve;
1144	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(cp5 != cp2);
1145	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.	2	BOOST_CHECK(cp5.m_wrench == curve);
1146	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.	2	BOOST_CHECK(cp2.m_wrench != curve);
1147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1148	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(cp5 == cp2);
1149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve = buildRandomPolynomial3D();
1150		2	cp5.m_zmp = curve;
1151	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(cp5 != cp2);
1152	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.	2	BOOST_CHECK(cp5.m_zmp == curve);
1153	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.	2	BOOST_CHECK(cp2.m_zmp != curve);
1154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1155	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(cp5 == cp2);
1156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_SE3_ptr_t curveSE3 = buildRandomSE3LinearTraj(1.5, 2.9);
1157		2	cp5.m_root = curveSE3;
1158	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(cp5 != cp2);
1159	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.	2	BOOST_CHECK(cp5.m_root == curveSE3);
1160	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.	2	BOOST_CHECK(cp2.m_root != curveSE3);
1161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1162	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(cp5 == cp2);
1163
1164	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp5.removeContact("left_leg");
1165	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(cp5 != cp2);
1166	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1167	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(cp5 == cp2);
1168	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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	cp5.addContact("test", ContactPatch(SE3::Identity().setRandom()));
1169	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(cp5 != cp2);
1170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1171	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(cp5 == cp2);
1172	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp5.addEffectorTrajectory(
1173	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	4	"knee", buildRandomSE3LinearTraj(cp5.timeInitial(), cp5.timeFinal()));
1174	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(cp5 != cp2);
1175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1176	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(cp5 == cp2);
1177	3/6 ✓ 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.	2	cp5.addContactForceTrajectory("left_leg", buildRandomPolynomial12D());
1178	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(cp5 != cp2);
1179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1180	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(cp5 == cp2);
1181	3/6 ✓ 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.	2	cp5.addContactNormalForceTrajectory("left_leg", buildRandomPolynomial1D());
1182	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(cp5 != cp2);
1183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp5 = cp2;
1184	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(cp5 == cp2);
1185
1186			// check that when removing the contact the trajectory are correctly deleted :
1187	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp5.removeContact("left_leg");
1188	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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(!cp5.isEffectorInContact("left_leg"));
1189	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp5.contactForces().count("left_leg") == 0);
1190	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp5.contactNormalForces().count("left_leg") == 0);
1191			// check that when adding a contact the effector trajectory is correctly
1192			// deleted :
1193	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp5.addContact("right_leg", patchR);
1194	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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cp5.effectorTrajectories().count("right_leg") == 0);
1195
1196			// check serialization
1197	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string fileName("fileTest");
1198	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPhase cp_from_txt, cp_from_xml, cp_from_bin;
1199	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	std::cout << "cp2 before serialization : " << std::endl << cp2 << std::endl;
1200
1201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cp2.saveAsText(fileName + ".txt");
1202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cp_from_txt.loadFromText(fileName + ".txt");
1203	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(cp2 == cp_from_txt);
1204	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "cp2 after deserialization : " << std::endl
1205	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	<< cp_from_txt << std::endl;
1206
1207	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp2.saveAsXML(fileName + ".xml", "ContactPhase");
1208	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp_from_xml.loadFromXML(fileName + ".xml", "ContactPhase");
1209	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(cp2 == cp_from_xml);
1210
1211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2.saveAsBinary(fileName);
1212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp_from_bin.loadFromBinary(fileName);
1213	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(cp2 == cp_from_bin);
1214
1215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	explicitContactPhaseAssertEqual(cp2, cp_from_txt);
1216		2	}
1217
1218	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(contact_phase_helpers_tarjectories) {
1219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p0(0., 0., 0.);
1220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p1(1., 2., 3.);
1221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p2(4., 4., 4.);
1222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p3(10., 10., 10.);
1223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t d0(1., 1., 1.);
1224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t d1(2., 2., 2.);
1225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t d2(3., 3., 3.);
1226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t d3(5., 5., 5.);
1227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t dd0(1.5, 1.5, 1.5);
1228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t dd1(2.5, 2.5, 2.5);
1229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t dd2(3.5, 3.5, 3.5);
1230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t dd3(5.5, 5.5, 5.5);
1231		2	double t0 = 1.0;
1232		2	double t1 = 1.5;
1233		2	double t2 = 3.0;
1234		2	double t3 = 10.0;
1235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points;
1236	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points.push_back(p0);
1237	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points.push_back(p1);
1238	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points.push_back(p2);
1239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points.push_back(p3);
1240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_derivative;
1241	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_derivative.push_back(d0);
1242	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_derivative.push_back(d1);
1243	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_derivative.push_back(d2);
1244	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_derivative.push_back(d3);
1245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_second_derivative;
1246	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_second_derivative.push_back(dd0);
1247	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_second_derivative.push_back(dd1);
1248	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_second_derivative.push_back(dd2);
1249	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_second_derivative.push_back(dd3);
1250		2	std::vector<double> time_points;
1251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points.push_back(t0);
1252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points.push_back(t1);
1253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points.push_back(t2);
1254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points.push_back(t3);
1255
1256			// check COM trajectory :
1257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp;
1258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp.setCOMtrajectoryFromPoints(points, points_derivative,
1259			points_second_derivative, time_points);
1260	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(cp.m_c->dim(), 3);
1261	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(cp.m_dc->dim(), 3);
1262	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(cp.m_ddc->dim(), 3);
1263	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(cp.m_c->min(), t0);
1264	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(cp.m_dc->min(), t0);
1265	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(cp.m_ddc->min(), t0);
1266	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(cp.m_c->max(), t3);
1267	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(cp.m_dc->max(), t3);
1268	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(cp.m_ddc->max(), t3);
1269	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_c)(t0).isApprox(p0));
1270	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_c)(t1).isApprox(p1));
1271	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_c)(t2).isApprox(p2));
1272	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_c)(t3).isApprox(p3));
1273	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dc)(t0).isApprox(d0));
1274	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dc)(t1).isApprox(d1));
1275	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dc)(t2).isApprox(d2));
1276	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dc)(t3).isApprox(d3));
1277	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddc)(t0).isApprox(dd0));
1278	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddc)(t1).isApprox(dd1));
1279	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddc)(t2).isApprox(dd2));
1280	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddc)(t3).isApprox(dd3));
1281
1282	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_c_init.isApprox(p0));
1283	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_c_final.isApprox(p3));
1284	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_dc_init.isApprox(d0));
1285	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_dc_final.isApprox(d3));
1286	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_ddc_init.isApprox(dd0));
1287	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_ddc_final.isApprox(dd3));
1288
1289			// check that init/final are not modified if they ere already set :
1290			// NOT THE CORRECT BEHAVIOR ANYMORE
1291			// ContactPhase cp2 = buildRandomContactPhase(0, 2);
1292			// point3_t c_init, c_final, dc_init, dc_final, ddc_init, ddc_final;
1293			// c_init = cp2.m_c_init;
1294			// dc_init = cp2.m_dc_init;
1295			// ddc_init = cp2.m_ddc_init;
1296			// c_final = cp2.m_c_final;
1297			// dc_final = cp2.m_dc_final;
1298			// ddc_final = cp2.m_ddc_final;
1299			// cp2.setCOMtrajectoryFromPoints(points, points_derivative,
1300			// points_second_derivative, time_points);
1301			// BOOST_CHECK(cp2.m_c_init.isApprox(c_init));
1302			// BOOST_CHECK(cp2.m_c_final.isApprox(c_final));
1303			// BOOST_CHECK(cp2.m_dc_init.isApprox(dc_init));
1304			// BOOST_CHECK(cp2.m_dc_final.isApprox(dc_final));
1305			// BOOST_CHECK(cp2.m_ddc_init.isApprox(ddc_init));
1306			// BOOST_CHECK(cp2.m_ddc_final.isApprox(ddc_final));
1307			// BOOST_CHECK(!cp2.m_c_init.isApprox(p0));
1308			// BOOST_CHECK(!cp2.m_c_final.isApprox(p3));
1309			// BOOST_CHECK(!cp2.m_dc_init.isApprox(d0));
1310			// BOOST_CHECK(!cp2.m_dc_final.isApprox(d3));
1311			// BOOST_CHECK(!cp2.m_ddc_init.isApprox(dd0));
1312			// BOOST_CHECK(!cp2.m_ddc_final.isApprox(dd3));
1313
1314			// check AM trajectory
1315
1316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp.setAMtrajectoryFromPoints(points, points_derivative, time_points);
1317	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(cp.m_L->dim(), 3);
1318	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(cp.m_dL->dim(), 3);
1319	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(cp.m_L->min(), t0);
1320	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(cp.m_dL->min(), t0);
1321	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(cp.m_L->max(), t3);
1322	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(cp.m_dL->max(), t3);
1323	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_L)(t0).isApprox(p0));
1324	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_L)(t1).isApprox(p1));
1325	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_L)(t2).isApprox(p2));
1326	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_L)(t3).isApprox(p3));
1327	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dL)(t0).isApprox(d0));
1328	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dL)(t1).isApprox(d1));
1329	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dL)(t2).isApprox(d2));
1330	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dL)(t3).isApprox(d3));
1331
1332	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_L_init.isApprox(p0));
1333	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_L_final.isApprox(p3));
1334	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_dL_init.isApprox(d0));
1335	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_dL_final.isApprox(d3));
1336
1337			// check that init/final are not modified if they ere already set :
1338			// NOT THE CORRECT BEHAVIOR ANYMORE
1339			// point3_t L_init, L_final, dL_init, dL_final;
1340			// L_init = cp2.m_L_init;
1341			// dL_init = cp2.m_dL_init;
1342			// L_final = cp2.m_L_final;
1343			// dL_final = cp2.m_dL_final;
1344			// cp2.setAMtrajectoryFromPoints(points, points_derivative, time_points);
1345			// BOOST_CHECK(cp2.m_L_init.isApprox(L_init));
1346			// BOOST_CHECK(cp2.m_L_final.isApprox(L_final));
1347			// BOOST_CHECK(cp2.m_dL_init.isApprox(dL_init));
1348			// BOOST_CHECK(cp2.m_dL_final.isApprox(dL_final));
1349			// BOOST_CHECK(!cp2.m_L_init.isApprox(p0));
1350			// BOOST_CHECK(!cp2.m_L_final.isApprox(p3));
1351			// BOOST_CHECK(!cp2.m_dL_init.isApprox(d0));
1352			// BOOST_CHECK(!cp2.m_dL_final.isApprox(d3));
1353
1354			// check q trajectory :
1355	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q0 = point12_t::Random();
1356	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q1 = point12_t::Random();
1357	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q2 = point12_t::Random();
1358	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t q3 = point12_t::Random();
1359	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t dq0 = point12_t::Random();
1360	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t dq1 = point12_t::Random();
1361	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t dq2 = point12_t::Random();
1362	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t dq3 = point12_t::Random();
1363	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t ddq0 = point12_t::Random();
1364	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t ddq1 = point12_t::Random();
1365	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t ddq2 = point12_t::Random();
1366	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t ddq3 = point12_t::Random();
1367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_q;
1368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_q.push_back(q0);
1369	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_q.push_back(q1);
1370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_q.push_back(q2);
1371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_q.push_back(q3);
1372	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_derivative_q;
1373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_derivative_q.push_back(dq0);
1374	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_derivative_q.push_back(dq1);
1375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_derivative_q.push_back(dq2);
1376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_derivative_q.push_back(dq3);
1377	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_second_derivative_q;
1378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_second_derivative_q.push_back(ddq0);
1379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_second_derivative_q.push_back(ddq1);
1380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_second_derivative_q.push_back(ddq2);
1381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_second_derivative_q.push_back(ddq3);
1382
1383	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp.setJointsTrajectoryFromPoints(points_q, points_derivative_q,
1384			points_second_derivative_q, time_points);
1385	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(cp.m_q->dim(), 12);
1386	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(cp.m_dq->dim(), 12);
1387	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(cp.m_ddq->dim(), 12);
1388	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(cp.m_q->min(), t0);
1389	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(cp.m_dq->min(), t0);
1390	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(cp.m_ddq->min(), t0);
1391	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(cp.m_q->max(), t3);
1392	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(cp.m_dq->max(), t3);
1393	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(cp.m_ddq->max(), t3);
1394	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_q)(t0).isApprox(q0));
1395	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_q)(t1).isApprox(q1));
1396	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_q)(t2).isApprox(q2));
1397	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_q)(t3).isApprox(q3));
1398	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dq)(t0).isApprox(dq0));
1399	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dq)(t1).isApprox(dq1));
1400	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dq)(t2).isApprox(dq2));
1401	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_dq)(t3).isApprox(dq3));
1402	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddq)(t0).isApprox(ddq0));
1403	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddq)(t1).isApprox(ddq1));
1404	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddq)(t2).isApprox(ddq2));
1405	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((*cp.m_ddq)(t3).isApprox(ddq3));
1406
1407	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_q_init.isApprox(q0));
1408	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp.m_q_final.isApprox(q3));
1409
1410			// check that init/final are not modified if they ere already set :
1411			// NOT THE CORRECT BEHAVIOR ANYMORE
1412			// pointX_t q_init, q_final;
1413			// q_init = cp2.m_q_init;
1414			// q_final = cp2.m_q_final;
1415			// cp2.setJointsTrajectoryFromPoints(points_q, points_derivative_q,
1416			// points_second_derivative_q, time_points);
1417			// BOOST_CHECK(cp2.m_q_init.isApprox(q_init));
1418			// BOOST_CHECK(cp2.m_q_final.isApprox(q_final));
1419			// BOOST_CHECK(!cp2.m_q_init.isApprox(q0));
1420			// BOOST_CHECK(!cp2.m_q_final.isApprox(q3));
1421
1422			// check that errors are correctly throw when required :
1423			// not the correct size
1424	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1425			cp.setCOMtrajectoryFromPoints(points_q, points_derivative,
1426			points_second_derivative, time_points),
1427			std::invalid_argument);
1428	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1429			cp.setCOMtrajectoryFromPoints(points, points_derivative_q,
1430			points_second_derivative, time_points),
1431			std::invalid_argument);
1432	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1433			cp.setCOMtrajectoryFromPoints(points, points_derivative,
1434			points_second_derivative_q, time_points),
1435			std::invalid_argument);
1436	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1437			cp.setCOMtrajectoryFromPoints(points_q, points_derivative_q,
1438			points_second_derivative_q, time_points),
1439			std::invalid_argument);
1440	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1441			cp.setAMtrajectoryFromPoints(points_q, points_derivative_q, time_points),
1442			std::invalid_argument);
1443	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1444			cp.setAMtrajectoryFromPoints(points, points_derivative_q, time_points),
1445			std::invalid_argument);
1446	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1447			cp.setAMtrajectoryFromPoints(points_q, points_derivative, time_points),
1448			std::invalid_argument);
1449			// not the same number of points :
1450	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points2 = points;
1451	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points2.push_back(d0);
1452	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_derivative2 = points_derivative;
1453	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_derivative2.push_back(d0);
1454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_second_derivative2 = points_second_derivative;
1455	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points_second_derivative2.push_back(d0);
1456	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<double> time_points2 = time_points;
1457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points2.push_back(50.);
1458	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1459			cp.setCOMtrajectoryFromPoints(points2, points_derivative,
1460			points_second_derivative, time_points),
1461			std::invalid_argument);
1462	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1463			cp.setCOMtrajectoryFromPoints(points, points_derivative2,
1464			points_second_derivative, time_points),
1465			std::invalid_argument);
1466	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1467			cp.setCOMtrajectoryFromPoints(points, points_derivative,
1468			points_second_derivative2, time_points),
1469			std::invalid_argument);
1470	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1471			cp.setCOMtrajectoryFromPoints(points, points_derivative,
1472			points_second_derivative, time_points2),
1473			std::invalid_argument);
1474	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1475			cp.setAMtrajectoryFromPoints(points2, points_derivative, time_points),
1476			std::invalid_argument);
1477	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1478			cp.setAMtrajectoryFromPoints(points, points_derivative2, time_points),
1479			std::invalid_argument);
1480	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1481			cp.setAMtrajectoryFromPoints(points, points_derivative, time_points2),
1482			std::invalid_argument);
1483	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_q2 = points_q;
1484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_q2.push_back(q0);
1485	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_derivative_q2 = points_derivative_q;
1486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_derivative_q2.push_back(q0);
1487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_pointX_t points_second_derivative_q2 = points_second_derivative_q;
1488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	points_second_derivative_q2.push_back(q0);
1489	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1490			cp.setJointsTrajectoryFromPoints(points_q2, points_derivative_q,
1491			points_second_derivative_q, time_points),
1492			std::invalid_argument);
1493	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(
1494			cp.setJointsTrajectoryFromPoints(points_q, points_derivative_q2,
1495			points_second_derivative_q, time_points),
1496			std::invalid_argument);
1497	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(cp.setJointsTrajectoryFromPoints(
1498			points_q, points_derivative_q,
1499			points_second_derivative_q2, time_points),
1500			std::invalid_argument);
1501	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(cp.setJointsTrajectoryFromPoints(
1502			points_q, points_derivative_q,
1503			points_second_derivative_q, time_points2),
1504			std::invalid_argument);
1505		2	}
1506
1507	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(contact_phase_helper_contact_variation) {
1508			typedef ContactPhase::t_strings t_strings;
1509			// # contacts repositioned :
1510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase();
1511	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = buildRandomContactPhase();
1512	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings repo = cp1.getContactsRepositioned(cp2);
1513	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.	2	BOOST_CHECK(repo.size() == 2);
1514	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 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(repo[0] == "right_hand");
1515	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 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(repo[1] == "left_foot");
1516	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings repo1 = cp2.getContactsRepositioned(cp1);
1517	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.	2	BOOST_CHECK(repo1.size() == 2);
1518	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 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(repo1[0] == "right_hand");
1519	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 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(repo1[1] == "left_foot");
1520	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings vars = cp1.getContactsVariations(cp2);
1521	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.	2	BOOST_CHECK(vars.size() == 2);
1522
1523			// # contacts broken :
1524	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp3;
1525	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch RH_patch(SE3::Identity().setRandom());
1526	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp3.addContact("right_hand", RH_patch);
1527	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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	cp3.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
1528	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp4;
1529	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp4.addContact("right_hand", RH_patch);
1530	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings broken = cp3.getContactsBroken(cp4);
1531	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.	2	BOOST_CHECK(broken.size() == 1);
1532	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 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(broken[0] == "left_foot");
1533	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings broken1 = cp4.getContactsBroken(cp3);
1534	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.	2	BOOST_CHECK(broken1.size() == 0);
1535
1536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings created = cp4.getContactsCreated(cp3);
1537	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.	2	BOOST_CHECK(created.size() == 1);
1538	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 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(created[0] == "left_foot");
1539	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	t_strings created1 = cp3.getContactsCreated(cp4);
1540	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.	2	BOOST_CHECK(created1.size() == 0);
1541
1542	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vars = cp3.getContactsVariations(cp4);
1543	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.	2	BOOST_CHECK(vars.size() == 1);
1544	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 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(vars[0] == "left_foot");
1545	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	vars = cp4.getContactsVariations(cp3);
1546	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.	2	BOOST_CHECK(vars.size() == 1);
1547	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 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(vars[0] == "left_foot");
1548		2	}
1549
1550	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(contact_sequence) {
1551			// test without specifying size and using 'append' :
1552	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1553	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.	2	BOOST_CHECK(cs1.size() == 0);
1554	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	size_t id = cs1.append(cp0);
1557	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.	2	BOOST_CHECK(cs1.size() == 1);
1558	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_CHECK(id == 0);
1559	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.	2	BOOST_CHECK(cs1.contactPhase(0) == cp0);
1560	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	id = cs1.append(cp1);
1561	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.	2	BOOST_CHECK(cs1.size() == 2);
1562	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_CHECK(id == 1);
1563	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.	2	BOOST_CHECK(cs1.contactPhase(0) == cp0);
1564	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.	2	BOOST_CHECK(cs1.contactPhase(1) == cp1);
1565			// check with accessor to the contact phases vector
1566	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhaseVector phases = cs1.contactPhases();
1567	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.	2	BOOST_CHECK(phases.size() == 2);
1568	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(phases[0] == cp0);
1569	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(phases[1] == cp1);
1570
1571			// check that the accessor to contactPhases() create a copy :
1572	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = buildRandomContactPhase(0, 2);
1573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	phases.push_back(cp2);
1574	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.	2	BOOST_CHECK(phases.size() == 3);
1575	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.	2	BOOST_CHECK(cs1.size() ==
1576			2); // original contact sequence should not be modified
1577	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	phases[1].duration(3.);
1578	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.	2	BOOST_CHECK(cs1.contactPhase(1) ==
1579			cp1); // original contact sequence should not be modified
1580
1581			// check that contactPhase(id) getter return non const reference :
1582	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs1.contactPhase(1).timeFinal(10.);
1583	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.	2	BOOST_CHECK(cs1.contactPhase(1) != cp1);
1584	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.	2	BOOST_CHECK(cs1.contactPhase(1).timeFinal() == 10.);
1585
1586	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs1.contactPhase(0) = cp2;
1587	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.	2	BOOST_CHECK(cs1.contactPhase(0) == cp2);
1588
1589			// check with creating a contact sequence with a given size :
1590	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp_default;
1591	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs2 = ContactSequence(3);
1592	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.	2	BOOST_CHECK(cs2.size() == 3);
1593	10/18 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 3 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 3 times. ✓ Branch 30 taken 3 times. ✓ Branch 31 taken 1 times.	8	for (size_t i = 0; i < 3; ++i) BOOST_CHECK(cs2.contactPhase(i) == cp_default);
1594
1595			// try to modify the uninitialized contact phase inside the sequence from the
1596			// reference
1597	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase& cp2_0 = cs2.contactPhase(0);
1598	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	point3_t c_init = point3_t::Random();
1599	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2_0.m_c_init = c_init;
1600	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp2_0.duration(10);
1601	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.	2	BOOST_CHECK(cs2.contactPhase(0) != cp_default);
1602	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.	2	BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
1603	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.	2	BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);
1604
1605	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs2.contactPhase(1) = cp1;
1606	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.	2	BOOST_CHECK(cs2.contactPhase(1) == cp1);
1607
1608			// try resize method :
1609			// with smaller value than current :
1610	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.resize(1);
1611	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.	2	BOOST_CHECK(cs2.size() == 1);
1612	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.	2	BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
1613	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.	2	BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);
1614
1615			// check with greater size than current :
1616	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.resize(4);
1617	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.	2	BOOST_CHECK(cs2.size() == 4);
1618	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.	2	BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
1619	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.	2	BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);
1620	10/18 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 3 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 3 times. ✓ Branch 30 taken 3 times. ✓ Branch 31 taken 1 times.	8	for (size_t i = 1; i < 4; ++i) BOOST_CHECK(cs2.contactPhase(i) == cp_default);
1621
1622			// test operator == :
1623	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs3;
1624	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs4;
1625
1626	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(cs3 == cs4);
1627	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp3_0 = buildRandomContactPhase(0, 2);
1628	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs3.append(cp3_0);
1629	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(cs3 != cs4);
1630	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(!(cs3 == cs4));
1631	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs4.append(cp3_0);
1632	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(cs3 == cs4);
1633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp3_1 = buildRandomContactPhase(0, 2);
1634	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs3.append(cp3_1);
1635	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(cs3 != cs4);
1636	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs4.append(cp3_1);
1637	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(cs3 == cs4);
1638	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs4.contactPhase(1).duration(10);
1639	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.	2	BOOST_CHECK(cs4.contactPhase(1) != cp3_1);
1640	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(cs3 != cs4);
1641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs5(2);
1642	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs5.contactPhase(0) = cp3_0;
1643	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(cs3 != cs5);
1644	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs5.contactPhase(1) = cp3_1;
1645	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(cs3 == cs5);
1646
1647			// test copy constructor :
1648	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs6;
1649	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
1650	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	ContactPhase cp6 = buildRandomContactPhase(0, 2);
1651	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	cs6.append(cp6);
1652		20	}
1653	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.	2	BOOST_CHECK(cs6.size() == 10);
1654
1655	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs7(cs6);
1656	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(cs7 == cs6);
1657	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (size_t i = 0; i < 10; ++i) {
1658	9/18 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 10 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 10 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 10 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 10 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 10 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 10 times.	20	BOOST_CHECK(cs6.contactPhase(i) == cs7.contactPhase(i));
1659			}
1660
1661			// test serialization :
1662	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string fileName("fileTest");
1663	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactSequence cs_from_txt, cs_from_xml, cs_from_bin;
1664
1665	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs6.saveAsText(fileName + ".txt");
1666	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs_from_txt.loadFromText(fileName + ".txt");
1667	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(cs6 == cs_from_txt);
1668
1669	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cs6.saveAsXML(fileName + ".xml", "ContactSequence");
1670	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cs_from_xml.loadFromXML(fileName + ".xml", "ContactSequence");
1671	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(cs6 == cs_from_xml);
1672
1673	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs6.saveAsBinary(fileName);
1674	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs_from_bin.loadFromBinary(fileName);
1675	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(cs6 == cs_from_bin);
1676		2	}
1677
1678	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(contact_sequence_helper) {
1679	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1680	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.	2	BOOST_CHECK(cs1.size() == 0);
1681	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1682	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1683	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
1684	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
1685			// # test break contact :
1686	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.	2	BOOST_CHECK(cs1.size() == 2);
1687	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.breakContact("left_foot");
1688	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.	2	BOOST_CHECK(cs1.size() == 3);
1689	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(!cs1.contactPhase(2).isEffectorInContact("left_foot"));
1690	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.	2	BOOST_CHECK(
1691			cs1.contactPhase(1).timeFinal() ==
1692			4.); // time final of previous phase should not have been modified
1693			// check that the final value of the previous phase have been copied in the
1694			// initial value of the new one
1695	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_c_final == cs1.contactPhase(2).m_c_init);
1696	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_dc_final == cs1.contactPhase(2).m_dc_init);
1697	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_ddc_final ==
1698			cs1.contactPhase(2).m_ddc_init);
1699	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_L_final == cs1.contactPhase(2).m_L_init);
1700	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_dL_final == cs1.contactPhase(2).m_dL_init);
1701	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).m_q_final == cs1.contactPhase(2).m_q_init);
1702	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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).timeFinal() ==
1703			cs1.contactPhase(2).timeInitial());
1704			// check that the other contactPatch have been copied :
1705	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(1).contactPatch("right_hand") ==
1706			cs1.contactPhase(2).contactPatch("right_hand"));
1707
1708			// # test create contact :
1709	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch target(SE3::Identity().setRandom());
1710	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.createContact("left_foot", target, 2.5);
1711	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.	2	BOOST_CHECK(cs1.size() == 4);
1712	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.	2	BOOST_CHECK(cs1.contactPhase(2).timeFinal() ==
1713			6.5); // time final of previous phase should have been modified
1714	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 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 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(3).contactPatch("left_foot") == target);
1715			// check that the final value of the previous phase have been copied in the
1716			// initial value of the new one
1717	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_c_final == cs1.contactPhase(3).m_c_init);
1718	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_dc_final == cs1.contactPhase(3).m_dc_init);
1719	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_ddc_final ==
1720			cs1.contactPhase(3).m_ddc_init);
1721	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_L_final == cs1.contactPhase(3).m_L_init);
1722	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_dL_final == cs1.contactPhase(3).m_dL_init);
1723	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).m_q_final == cs1.contactPhase(3).m_q_init);
1724	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 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).timeFinal() ==
1725			cs1.contactPhase(3).timeInitial());
1726			// check that the other contactPatch have been copied :
1727	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(2).contactPatch("right_hand") ==
1728			cs1.contactPhase(3).contactPatch("right_hand"));
1729
1730			// # test break with duration :
1731	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.breakContact("left_foot", 1.);
1732	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.	2	BOOST_CHECK(cs1.size() == 5);
1733	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(!cs1.contactPhase(4).isEffectorInContact("left_foot"));
1734	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.	2	BOOST_CHECK(cs1.contactPhase(3).timeFinal() ==
1735			7.5); // time final of previous phase should have been modified
1736
1737			// # test create contact with no duration:
1738	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cs1.contactPhase(4).duration(1.);
1739	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.	2	BOOST_CHECK(cs1.contactPhase(4).timeFinal() ==
1740			8.5); // time final of previous phase should have been modified
1741	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	target = ContactPatch(SE3::Identity().setRandom());
1742	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.createContact("left_foot", target);
1743	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.	2	BOOST_CHECK(cs1.size() == 6);
1744	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.	2	BOOST_CHECK(cs1.contactPhase(4).timeFinal() ==
1745			8.5); // time final of previous phase should have been modified
1746	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.	2	BOOST_CHECK(cs1.contactPhase(5).timeInitial() ==
1747			8.5); // time final of previous phase should have been modified
1748
1749			// # test move effector to placement :
1750	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	SE3 target_placement = SE3::Identity().setRandom();
1751	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	addRandomPointsValues(cs1.contactPhase(5));
1752	3/6 ✓ 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.	2	cs1.contactPhase(5).contactPatch("right_hand").friction() = 2.;
1753	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.moveEffectorToPlacement("right_hand", target_placement, 1., 1.5);
1754	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.	2	BOOST_CHECK(cs1.size() == 8);
1755	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(!cs1.contactPhase(6).isEffectorInContact("right_hand"));
1756	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(7).isEffectorInContact("right_hand"));
1757	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(7).contactPatch("right_hand").placement() ==
1758			target_placement);
1759			// check that previous patch have not been modified :
1760	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).contactPatch("right_hand").placement() !=
1761			target_placement);
1762	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 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(7).contactPatch("right_hand").friction() == 2.);
1763	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.	2	BOOST_CHECK(cs1.contactPhase(5).timeFinal() == 9.5);
1764	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.	2	BOOST_CHECK(cs1.contactPhase(6).timeInitial() == 9.5);
1765	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.	2	BOOST_CHECK(cs1.contactPhase(6).timeFinal() == 11.);
1766	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.	2	BOOST_CHECK(cs1.contactPhase(7).timeInitial() == 11.);
1767			// check that the final value of the previous phase have been copied in the
1768			// initial value of the new one
1769	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_c_final == cs1.contactPhase(6).m_c_init);
1770	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_dc_final == cs1.contactPhase(6).m_dc_init);
1771	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_ddc_final ==
1772			cs1.contactPhase(6).m_ddc_init);
1773	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_L_final == cs1.contactPhase(6).m_L_init);
1774	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_dL_final == cs1.contactPhase(6).m_dL_init);
1775	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).m_q_final == cs1.contactPhase(6).m_q_init);
1776			// with MoveEffector, the middle phase should have the same initial and final
1777			// point :
1778	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_c_final == cs1.contactPhase(6).m_c_init);
1779	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_dc_final == cs1.contactPhase(6).m_dc_init);
1780	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_ddc_final ==
1781			cs1.contactPhase(6).m_ddc_init);
1782	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_L_final == cs1.contactPhase(6).m_L_init);
1783	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_dL_final == cs1.contactPhase(6).m_dL_init);
1784	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_q_final == cs1.contactPhase(6).m_q_init);
1785			// check that the final value of the previous phase have been copied in the
1786			// initial value of the new one
1787	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_c_final == cs1.contactPhase(7).m_c_init);
1788	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_dc_final == cs1.contactPhase(7).m_dc_init);
1789	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_ddc_final ==
1790			cs1.contactPhase(7).m_ddc_init);
1791	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_L_final == cs1.contactPhase(7).m_L_init);
1792	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_dL_final == cs1.contactPhase(7).m_dL_init);
1793	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 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 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).m_q_final == cs1.contactPhase(7).m_q_init);
1794			// check that the other contactPatch have been copied :
1795	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(5).contactPatch("left_foot") ==
1796			cs1.contactPhase(6).contactPatch("left_foot"));
1797	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(6).contactPatch("left_foot") ==
1798			cs1.contactPhase(7).contactPatch("left_foot"));
1799
1800			// # test move effector of:
1801	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	SE3 target_transform = SE3::Identity().setRandom();
1802	3/6 ✓ 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.	2	cs1.contactPhase(7).contactPatch("left_foot").friction() = 10.;
1803	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.moveEffectorOf("left_foot", target_transform, 1., 1.5);
1804	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.	2	BOOST_CHECK(cs1.size() == 10);
1805	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(!cs1.contactPhase(8).isEffectorInContact("left_foot"));
1806	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(9).isEffectorInContact("left_foot"));
1807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	target_placement = target_transform.act(
1808	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	4	cs1.contactPhase(7).contactPatch("left_foot").placement());
1809	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(9).contactPatch("left_foot").placement() ==
1810			target_placement);
1811	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 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(9).contactPatch("left_foot").friction() == 10.);
1812			// check that the other contactPatch have been copied :
1813	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(7).contactPatch("right_hand") ==
1814			cs1.contactPhase(8).contactPatch("right_hand"));
1815	13/26 ✓ 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 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✗ Branch 49 not taken. ✓ Branch 50 taken 1 times.	2	BOOST_CHECK(cs1.contactPhase(8).contactPatch("right_hand") ==
1816			cs1.contactPhase(9).contactPatch("right_hand"));
1817		2	}
1818
1819	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(contact_sequence_helper_throw) {
1820			using std::invalid_argument;
1821			// # check that break contact correctly throw error when needed :
1822	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1823	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.	2	BOOST_CHECK(cs1.size() == 0);
1824	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1825	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1826	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp1.removeContact("left_foot");
1827	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
1828	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
1829	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.	2	BOOST_CHECK(cs1.size() == 2);
1830	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 29 not taken. ✗ Branch 30 not taken. ✗ Branch 32 not taken. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✗ Branch 38 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 47 taken 1 times. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	8	BOOST_CHECK_THROW(cs1.breakContact("left_foot"),
1831			invalid_argument); // contact do not exist
1832	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.	2	BOOST_CHECK(cs1.size() == 2);
1833	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = buildRandomContactPhase();
1834	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
1835	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.	2	BOOST_CHECK(cs1.size() == 3);
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1837			cs1.breakContact("left_foot", 1.5),
1838			invalid_argument); // time interval not defined for last phase
1839	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.	2	BOOST_CHECK(cs1.size() == 3);
1840
1841			// # check that create contact correctly throw error when needed :
1842	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ContactPatch target(SE3::Identity().setRandom());
1843	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 29 not taken. ✗ Branch 30 not taken. ✗ Branch 32 not taken. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✗ Branch 38 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 47 taken 1 times. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	8	BOOST_CHECK_THROW(cs1.createContact("left_foot", target),
1844			invalid_argument); // contact already exist
1845	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.	2	BOOST_CHECK(cs1.size() == 3);
1846	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cs1.breakContact("left_foot");
1847	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.	2	BOOST_CHECK(cs1.size() == 4);
1848	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 29 not taken. ✗ Branch 30 not taken. ✗ Branch 32 not taken. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✗ Branch 38 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 47 taken 1 times. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	8	BOOST_CHECK_THROW(cs1.createContact("left_foot", target, 2.),
1849			invalid_argument); // time interval not defined
1850	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.	2	BOOST_CHECK(cs1.size() == 4);
1851		2	}
1852
1853	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(contact_sequence_is_time_consistent) {
1854	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1855	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1856	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1857	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
1858	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
1859	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bool consistent = cs1.haveTimings();
1860	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_CHECK(consistent);
1861
1862	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs2 = ContactSequence(0);
1863	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = buildRandomContactPhase(0, 2);
1864	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp3 = buildRandomContactPhase(1.5, 4.);
1865	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp2);
1866	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp3);
1867	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	consistent = cs2.haveTimings();
1868	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_CHECK(!consistent);
1869
1870	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs3 = ContactSequence(0);
1871	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp4 = buildRandomContactPhase(0, 2);
1872	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp5 = buildRandomContactPhase();
1873	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs3.append(cp4);
1874	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs3.append(cp5);
1875	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	consistent = cs3.haveTimings();
1876	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_CHECK(!consistent);
1877
1878	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs4 = ContactSequence(0);
1879	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp6 = buildRandomContactPhase();
1880	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp7 = buildRandomContactPhase(1, 3);
1881	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs4.append(cp6);
1882	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs4.append(cp7);
1883	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	consistent = cs4.haveTimings();
1884	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_CHECK(!consistent);
1885		2	}
1886
1887	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(contact_sequence_have_contact_model_defined) {
1888	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1889	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1890	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1891	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = buildRandomContactPhase(0, 2);
1892	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
1893	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
1894
1895			// cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
1896			// cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
1897	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(!cs1.haveContactModelDefined());
1898	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp1(0.3, ContactType::CONTACT_PLANAR);
1899	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions = Matrix3X::Random(3, 4);
1900	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp1.contact_points_positions(positions);
1901	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp2(0.5, ContactType::CONTACT_POINT);
1902	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix3X positions2 = Matrix3X::Random(3, 1);
1903	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	mp2.contact_points_positions(positions2);
1904	4/8 ✓ 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.	2	cs1.contactPhase(0).contactPatch("right_hand").m_contact_model = mp1;
1905	4/8 ✓ 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.	2	cs1.contactPhase(0).contactPatch("left_foot").m_contact_model = mp2;
1906	4/8 ✓ 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.	2	cs1.contactPhase(1).contactPatch("right_hand").m_contact_model = mp1;
1907	4/8 ✓ 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.	2	cs1.contactPhase(1).contactPatch("left_foot").m_contact_model = mp2;
1908	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(cs1.haveContactModelDefined());
1909
1910	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
1911	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(!cs1.haveContactModelDefined());
1912	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactModel mp3(0.3);
1913	4/8 ✓ 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.	2	cs1.contactPhase(2).contactPatch("right_hand").m_contact_model = mp3;
1914	4/8 ✓ 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.	2	cs1.contactPhase(2).contactPatch("left_foot").m_contact_model = mp2;
1915	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(!cs1.haveContactModelDefined());
1916
1917		2	mp3.m_contact_type = ContactType::CONTACT_PLANAR; // no effect
1918	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(!cs1.haveContactModelDefined());
1919
1920	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.contactPhase(2)
1921	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	.contactPatch("right_hand")
1922		2	.m_contact_model.m_contact_type = ContactType::CONTACT_PLANAR;
1923	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(cs1.haveContactModelDefined());
1924		2	}
1925
1926	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(contact_sequence_concatenate_com_traj) {
1927	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1928	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = buildRandomContactPhase(0, 2);
1929	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = buildRandomContactPhase(2, 4.);
1930	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p0(0., 0., 0.);
1931	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p1(1., 2., 3.);
1932	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p2(4., 4., 4.);
1933	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p3(10., 10., 10.);
1934	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t p4(-2., 3.6, 4.);
1935		2	double t0 = 0.;
1936		2	double t1 = 0.8;
1937		2	double t2 = 2.;
1938		2	double t3 = 3.2;
1939		2	double t4 = 4.;
1940	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	t_pointX_t points1, points2;
1941	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points1.push_back(p0);
1942	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points1.push_back(p1);
1943	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points1.push_back(p2);
1944	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points2.push_back(p2);
1945	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points2.push_back(p3);
1946	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	points2.push_back(p4);
1947		2	std::vector<double> time_points1, time_points2;
1948	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points1.push_back(t0);
1949	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points1.push_back(t1);
1950	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points1.push_back(t2);
1951	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points2.push_back(t2);
1952	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points2.push_back(t3);
1953	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	time_points2.push_back(t4);
1954
1955			ndcurves::piecewise_t c1 =
1956			ndcurves::piecewise_t::convert_discrete_points_to_polynomial<
1957	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.	4	ndcurves::polynomial_t>(points1, time_points1);
1958	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t c1_ptr(new ndcurves::piecewise_t(c1));
1959			ndcurves::piecewise_t c2 =
1960			ndcurves::piecewise_t::convert_discrete_points_to_polynomial<
1961	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.	4	ndcurves::polynomial_t>(points2, time_points2);
1962	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	curve_ptr_t c2_ptr(new ndcurves::piecewise_t(c2));
1963		2	cp0.m_c = c1_ptr;
1964		2	cp1.m_c = c2_ptr;
1965	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp0.m_c->min() == 0.);
1966	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp0.m_c->max() == 2.);
1967	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp1.m_c->min() == 2.);
1968	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cp1.m_c->max() == 4.);
1969	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
1970	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
1971	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	piecewise_t c_t = cs1.concatenateCtrajectories();
1972	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.	2	BOOST_CHECK(c_t.min() == 0.);
1973	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.	2	BOOST_CHECK(c_t.max() == 4.);
1974	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(c_t(0) == cp0.m_c->operator()(0));
1975	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(c_t(0.5) == cp0.m_c->operator()(0.5));
1976	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(c_t(2.) == cp0.m_c->operator()(2.));
1977	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(c_t(3) == cp1.m_c->operator()(3));
1978	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 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(c_t(4.) == cp1.m_c->operator()(4.));
1979		2	}
1980
1981	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(contact_sequence_concatenate_effector_traj) {
1982	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
1983	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
1984	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(2, 4.);
1985	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(4, 8.);
1986	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t q0 = randomQuaternion();
1987	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t q1 = randomQuaternion();
1988	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t q2 = randomQuaternion();
1989	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q0.normalize();
1990	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q1.normalize();
1991	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q2.normalize();
1992	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t p0 = point3_t::Random();
1993	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t p1 = point3_t::Random();
1994	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pointX_t p2 = point3_t::Random();
1995
1996	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.	2	curve_SE3_ptr_t traj_0(new ndcurves::SE3Curve_t(p0, p1, q0, q1, 0., 2.));
1997	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.	2	curve_SE3_ptr_t traj_2(new ndcurves::SE3Curve_t(p1, p2, q1, q2, 4., 8.));
1998	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp0.addEffectorTrajectory("right_leg", traj_0);
1999	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp2.addEffectorTrajectory("right_leg", traj_2);
2000
2001	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2002	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2003	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2004
2005	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	piecewise_SE3_t traj = cs1.concatenateEffectorTrajectories("right_leg");
2006	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.	2	BOOST_CHECK(traj.min() == 0.);
2007	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.	2	BOOST_CHECK(traj.max() == 8.);
2008	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(0.).isApprox(traj_0->operator()(0.)));
2009	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(1.5).isApprox(traj_0->operator()(1.5)));
2010	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(2.).isApprox(traj_0->operator()(2.)));
2011	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(4.).isApprox(traj_2->operator()(4.)));
2012	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(6.).isApprox(traj_2->operator()(6.)));
2013	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(8.).isApprox(traj_2->operator()(8.)));
2014	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(2.5).isApprox(traj_0->operator()(2.)));
2015	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(traj(3.8).isApprox(traj_0->operator()(2.)));
2016	12/36 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken. ✗ Branch 30 not taken. ✗ Branch 31 not taken. ✗ Branch 33 not taken. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✗ Branch 39 not taken. ✗ Branch 41 not taken. ✓ Branch 42 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 48 taken 1 times. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 60 taken 1 times. ✗ Branch 61 not taken. ✓ Branch 63 taken 1 times. ✗ Branch 64 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✗ Branch 71 not taken. ✓ Branch 72 taken 1 times.	8	BOOST_CHECK_THROW(cs1.concatenateEffectorTrajectories("test"),
2017			std::invalid_argument);
2018
2019	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp3 = ContactPhase(8, 12.);
2020	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp3);
2021	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	traj = cs1.concatenateEffectorTrajectories("right_leg");
2022	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.	2	BOOST_CHECK(traj.min() == 0.);
2023	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.	2	BOOST_CHECK(traj.max() == 12.);
2024
2025	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cpm1 = ContactPhase(-2., 0.);
2026	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs2 = ContactSequence(0);
2027
2028	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cpm1);
2029	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp0);
2030	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp1);
2031	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp2);
2032	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	traj = cs2.concatenateEffectorTrajectories("right_leg");
2033	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.	2	BOOST_CHECK(traj.min() == -2.);
2034	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.	2	BOOST_CHECK(traj.max() == 8.);
2035
2036	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs2.append(cp3);
2037	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	traj = cs2.concatenateEffectorTrajectories("right_leg");
2038	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.	2	BOOST_CHECK(traj.min() == -2.);
2039	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.	2	BOOST_CHECK(traj.max() == 12.);
2040		2	}
2041
2042	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(contact_sequence_concatenate_force_traj) {
2043	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2044	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
2045	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(2, 4.);
2046	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(4, 8.);
2047
2048	3/6 ✓ 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.	2	cp0.addContact("right_leg", ContactPatch());
2049	3/6 ✓ 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.	2	cp2.addContact("right_leg", ContactPatch());
2050	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t f_0 = buildRandomPolynomial12D(0, 2);
2051	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t f_2 = buildRandomPolynomial12D(4, 8);
2052	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp0.addContactForceTrajectory("right_leg", f_0);
2053	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp2.addContactForceTrajectory("right_leg", f_2);
2054
2055	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2056	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2057	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2058
2059	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	piecewise_t forces = cs1.concatenateContactForceTrajectories("right_leg");
2060	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.	2	BOOST_CHECK(forces.min() == 0.);
2061	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.	2	BOOST_CHECK(forces.max() == 8.);
2062	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(0.).isApprox(f_0->operator()(0.)));
2063	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(1.5).isApprox(f_0->operator()(1.5)));
2064	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(1.999).isApprox(f_0->operator()(1.999)));
2065	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(4.).isApprox(f_2->operator()(4.)));
2066	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(6.).isApprox(f_2->operator()(6.)));
2067	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(8.).isApprox(f_2->operator()(8.)));
2068	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(2.).isApprox(point12_t::Zero()));
2069	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(2.5).isApprox(point12_t::Zero()));
2070	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(3.8).isApprox(point12_t::Zero()));
2071		2	}
2072
2073	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(contact_sequence_concatenate_normal_force_traj) {
2074	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2075	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
2076	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(2, 4.);
2077	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(4, 8.);
2078
2079	3/6 ✓ 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.	2	cp1.addContact("right_leg", ContactPatch());
2080	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	curve_ptr_t f_1 = buildRandomPolynomial1D(2., 4.);
2081	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	cp1.addContactNormalForceTrajectory("right_leg", f_1);
2082
2083	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2084	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2085	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2086
2087	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	piecewise_t forces = cs1.concatenateNormalForceTrajectories("right_leg");
2088	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.	2	BOOST_CHECK(forces.min() == 0.);
2089	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.	2	BOOST_CHECK(forces.max() == 8.);
2090	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(2.).isApprox(f_1->operator()(2.)));
2091	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(2.5).isApprox(f_1->operator()(2.5)));
2092	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(forces(3.999).isApprox(f_1->operator()(3.999)));
2093	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(0.).isApprox(point1_t::Zero()));
2094	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(1.5).isApprox(point1_t::Zero()));
2095	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(4.).isApprox(point1_t::Zero()));
2096	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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(forces(7.5).isApprox(point1_t::Zero()));
2097		2	}
2098
2099	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(contact_sequence_phase_at_time) {
2100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
2102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(2, 4.);
2103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(4, 8.);
2104
2105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2108
2109	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(0.), 0);
2110	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(1.), 0);
2111	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(1.9), 0);
2112	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(2.), 1);
2113	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(3.5), 1);
2114	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(4.), 2);
2115	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(5.), 2);
2116	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(8.), 2);
2117	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(-0.5), -1);
2118	5/10 ✓ 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 not taken. ✓ Branch 19 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseIdAtTime(10.), -1);
2119
2120	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(0.), cp0);
2121	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(1.), cp0);
2122	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(1.9), cp0);
2123	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(2.), cp1);
2124	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(3.5), cp1);
2125	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(4.), cp2);
2126	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(5.), cp2);
2127	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_EQUAL(cs1.phaseAtTime(8.), cp2);
2128	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(cs1.phaseAtTime(-0.5), std::invalid_argument);
2129	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_CHECK_THROW(cs1.phaseAtTime(10.), std::invalid_argument);
2130		2	}
2131
2132	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(contact_sequence_have_trajectory) {
2133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
2135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_c = buildRandomPolynomial3D(0, 2);
2136	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_c_init = cp0.m_c->operator()(0);
2137	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_c_final = cp0.m_c->operator()(2);
2138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_dc = buildRandomPolynomial3D(0, 2);
2139	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dc_init = cp0.m_dc->operator()(0);
2140	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dc_final = cp0.m_dc->operator()(2);
2141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_ddc = buildRandomPolynomial3D(0, 2);
2142	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_ddc_init = cp0.m_ddc->operator()(0);
2143	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_ddc_final = cp0.m_ddc->operator()(2);
2144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_L = buildRandomPolynomial3D(0, 2);
2145	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_L_init = cp0.m_L->operator()(0);
2146	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_L_final = cp0.m_L->operator()(2);
2147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_dL = buildRandomPolynomial3D(0, 2);
2148	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dL_init = cp0.m_dL->operator()(0);
2149	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dL_final = cp0.m_dL->operator()(2);
2150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_zmp = buildRandomPolynomial3D(0, 2);
2151
2152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2153	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(cs1.haveCOMtrajectories());
2154	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(cs1.haveAMtrajectories());
2155	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(cs1.haveZMPtrajectories());
2156		2	}
2157
2158	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(contact_sequence_have_trajectory_wrong_dimension) {
2159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 2);
2161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_c = buildRandomPolynomial3D(0, 2);
2162	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_c_init = cp0.m_c->operator()(0);
2163	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_c_final = cp0.m_c->operator()(2);
2164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_dc = buildRandomPolynomial12D(0, 2);
2165	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp0.m_dc_init = cp0.m_dc->operator()(0).head<3>();
2166	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp0.m_dc_final = cp0.m_dc->operator()(2).head<3>();
2167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_ddc = buildRandomPolynomial3D(0, 2);
2168	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_ddc_init = cp0.m_ddc->operator()(0);
2169	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_ddc_final = cp0.m_ddc->operator()(2);
2170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_L = buildRandomPolynomial12D(0, 2);
2171	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp0.m_L_init = cp0.m_L->operator()(0).head<3>();
2172	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	cp0.m_L_final = cp0.m_L->operator()(2).head<3>();
2173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_dL = buildRandomPolynomial3D(0, 2);
2174	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dL_init = cp0.m_dL->operator()(0);
2175	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.m_dL_final = cp0.m_dL->operator()(2);
2176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cp0.m_zmp = buildRandomPolynomial12D(0, 2);
2177
2178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2179	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(!cs1.haveCOMtrajectories());
2180	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(!cs1.haveAMtrajectories());
2181	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(!cs1.haveZMPtrajectories());
2182		2	}
2183
2184	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(contact_sequence_have_effector_trajectory) {
2185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 1);
2187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(1, 2);
2188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(2, 3);
2189
2190	3/6 ✓ 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.	2	cp1.addEffectorTrajectory("left_foot", buildRandomSE3LinearTraj(1, 2));
2191
2192	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp0.addContact(
2193			"left_foot",
2194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	ContactPatch(
2195	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	SE3(cp1.effectorTrajectories("left_foot")->operator()(1.).matrix())));
2196	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	cp2.addContact(
2197			"left_foot",
2198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	ContactPatch(
2199	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	SE3(cp1.effectorTrajectories("left_foot")->operator()(2.).matrix())));
2200
2201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2204	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(cs1.haveEffectorsTrajectories());
2205	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(cs1.haveEffectorsTrajectories(1e-3));
2206	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(cs1.haveEffectorsTrajectories(1e-3, true));
2207		2	}
2208
2209	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(contact_sequence_have_effector_trajectory_no_rotation) {
2210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactSequence cs1 = ContactSequence(0);
2211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp0 = ContactPhase(0, 1);
2212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp1 = ContactPhase(1, 2);
2213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ContactPhase cp2 = ContactPhase(2, 3);
2214
2215	3/6 ✓ 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.	2	cp1.addEffectorTrajectory("left_foot", buildRandomSE3LinearTraj(1, 2));
2216	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	SE3 p0(cp1.effectorTrajectories("left_foot")->operator()(1.).matrix());
2217	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	SE3 p1(cp1.effectorTrajectories("left_foot")->operator()(2.).matrix());
2218	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	SE3 p0_r = SE3::Identity().setRandom();
2219	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	SE3 p1_r = SE3::Identity().setRandom();
2220	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	p0.rotation() = p0_r.rotation();
2221	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	p1.rotation() = p1_r.rotation();
2222
2223	3/6 ✓ 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.	2	cp0.addContact("left_foot", ContactPatch(p0));
2224	3/6 ✓ 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.	2	cp2.addContact("left_foot", ContactPatch(p1));
2225
2226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp0);
2227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp1);
2228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	cs1.append(cp2);
2229	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(!cs1.haveEffectorsTrajectories());
2230	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(!cs1.haveEffectorsTrajectories(1e-6));
2231	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(!cs1.haveEffectorsTrajectories(1e-6, true));
2232	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(cs1.haveEffectorsTrajectories(1e-6, false));
2233		2	}
2234
2235			BOOST_AUTO_TEST_SUITE_END()
2236