GCC Code Coverage Report

Directory:	./
File:	tests/test-so3-smooth.cpp
Date:	2025-03-05 17:18:30

	Exec	Total	Coverage
Lines:	278	278	100.0%
Branches:	1205	2392	50.4%

Line	Branch	Exec	Source
1			// #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
2
3			#define EIGEN_RUNTIME_NO_MALLOC
4			#define BOOST_TEST_MODULE test_so3_smooth
5
6			#include <boost/test/included/unit_test.hpp>
7			#include <random>
8
9			#include "ndcurves/fwd.h"
10			#include "ndcurves/serialization/curves.hpp"
11			#include "ndcurves/so3_smooth.h"
12
13			using namespace ndcurves;
14
15			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
16
17		16	double generateRandomNumber(double lower, double upper) {
18			// Some random number
19	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	16	std::random_device rd;
20	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	16	std::mt19937 gen(rd());
21	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	16	std::uniform_real_distribution<> dist(lower, upper);
22	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	return dist(gen);
23		16	}
24
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26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
27	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(traj.dim(), 3);
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32			ndcurves::matrix3_t::Identity().isApprox(traj.get_init_rotation()));
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34			ndcurves::matrix3_t::Identity().isApprox(traj.get_end_rotation()));
35		2	}
36
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38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
39
40			// Real-time critical
41		2	Eigen::internal::set_is_malloc_allowed(false);
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate();
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49		2	Eigen::internal::set_is_malloc_allowed(true);
50		2	}
51
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53			// Create some start variables.
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
60
61			// Create the object.
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj(init_quat, end_quat, t_min, t_max);
63
64			// Test the object.
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71		2	}
72
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74			// Create some start variables.
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
81
82			// Create the object.
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
84
85			// Real-time critical
86		2	Eigen::internal::set_is_malloc_allowed(false);
87
88			// Generate the trajectory.
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_quat, end_quat, t_min, t_max);
90
91			// Test the object.
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98
99			// Real-time critical
100		2	Eigen::internal::set_is_malloc_allowed(true);
101		2	}
102
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104			// Create some start variables.
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
111
112			// Create the object.
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114
115			// Test the object.
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122		2	}
123
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125			// Create some start variables.
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
132
133			// Create the object.
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
135
136			// Real-time critical
137		2	Eigen::internal::set_is_malloc_allowed(false);
138
139			// Generate the trajectory.
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_rot, end_rot, t_min, t_max);
141
142			// Test the object.
143	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(traj.dim(), 3);
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145	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(traj.max(), t_max);
146	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(traj.degree(), 5.0);
147	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(traj.get_init_rotation(), init_rot);
148	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(traj.get_end_rotation(), end_rot);
149
150			// Real-time critical
151		2	Eigen::internal::set_is_malloc_allowed(true);
152		2	}
153
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155			// Create some start variables.
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
159	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
160
161			// Create the object.
162	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj(init_quat, end_quat);
163
164			// Test the object.
165	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(traj.dim(), 3);
166	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(traj.min(), 0.0);
167	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(traj.max(), 1.0);
168	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(traj.degree(), 5.0);
169	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(traj.get_init_rotation(), init_rot);
170	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(traj.get_end_rotation(), end_rot);
171		2	}
172
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174			// Create some start variables.
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
179
180			// Create the object.
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
182
183			// Real-time critical
184		2	Eigen::internal::set_is_malloc_allowed(false);
185
186			// Generate the trajectory.
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_quat, end_quat);
188
189			// Test the object.
190	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(traj.dim(), 3);
191	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(traj.min(), 0.0);
192	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(traj.max(), 1.0);
193	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(traj.degree(), 5.0);
194	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(traj.get_init_rotation(), init_rot);
195	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(traj.get_end_rotation(), end_rot);
196
197			// Real-time critical
198		2	Eigen::internal::set_is_malloc_allowed(true);
199		2	}
200
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202			// Create some start variables.
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
207
208			// Create the object.
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj(init_rot, end_rot);
210
211			// Test the object.
212	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(traj.dim(), 3);
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214	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(traj.max(), 1.0);
215	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(traj.degree(), 5.0);
216	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(traj.get_init_rotation(), init_rot);
217	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(traj.get_end_rotation(), end_rot);
218		2	}
219
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221			// Create some start variables.
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
226
227			// Create the object.
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
229
230			// Real-time critical
231		2	Eigen::internal::set_is_malloc_allowed(false);
232
233			// Generate the trajectory.
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_rot, end_rot);
235
236			// Test the object.
237	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(traj.dim(), 3);
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239	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(traj.max(), 1.0);
240	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(traj.degree(), 5.0);
241	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(traj.get_init_rotation(), init_rot);
242	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(traj.get_end_rotation(), end_rot);
243
244			// Real-time critical
245		2	Eigen::internal::set_is_malloc_allowed(true);
246		2	}
247
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249			// None real_time critical
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
256
257			// Create 2 objects and 1 initialized to be copied.
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj1(init_quat, end_quat, t_min, t_max);
259
260			// Construct and copy the traj1 object.
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj2(traj1);
262
263			// Test both trajectories independently.
264	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(traj1.dim(), 3);
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266	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(traj1.max(), t_max);
267	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(traj1.degree(), 5.0);
268	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(traj1.get_init_rotation(), init_rot);
269	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(traj1.get_end_rotation(), end_rot);
270	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(traj2.dim(), 3);
271	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(traj2.min(), t_min);
272	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(traj2.max(), t_max);
273	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(traj2.degree(), 5.0);
274	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(traj2.get_init_rotation(), init_rot);
275	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(traj2.get_end_rotation(), end_rot);
276		2	}
277
278	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(computation_check) {
279			// Create some start variables.
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<matrix3_t, Eigen::aligned_allocator<matrix3_t>> traj_discr;
287		2	double dt = 1e-4;
288		2	std::size_t nb_sample = static_cast<std::size_t>((t_max - t_min) / dt);
289	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	traj_discr.resize(nb_sample, matrix3_t::Zero());
290
291			// Create the object.
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
293
294			// Real-time critical
295		2	Eigen::internal::set_is_malloc_allowed(false);
296
297			// Generate the trajectory.
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_rot, end_rot, t_min, t_max);
299
300			// Evaluate the trajectory.
301	2/2 ✓ Branch 1 taken 65675 times. ✓ Branch 2 taken 1 times.	131352	for (std::size_t i = 0; i < traj_discr.size(); ++i) {
302	1/2 ✓ Branch 1 taken 65675 times. ✗ Branch 2 not taken.	131350	traj_discr[i] = traj(t_min + static_cast<double>(i) * dt);
303			}
304
305			// Test the object.
306	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(traj.dim(), 3);
307	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(traj.min(), t_min);
308	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(traj.max(), t_max);
309	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(traj.degree(), 5.0);
310	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(traj.get_init_rotation(), init_rot);
311	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(traj.get_end_rotation(), end_rot);
312	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(traj(traj.min()).isApprox(init_rot));
313	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(traj(traj.max()).isApprox(end_rot));
314
315			// Real-time critical
316		2	Eigen::internal::set_is_malloc_allowed(true);
317
318			// Continuity test.
319	2/2 ✓ Branch 1 taken 65674 times. ✓ Branch 2 taken 1 times.	131350	for (std::size_t i = 1; i < traj_discr.size(); ++i) {
320	2/4 ✓ Branch 3 taken 65674 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 65674 times. ✗ Branch 7 not taken.	131348	matrix3_t error = traj_discr[i] - traj_discr[i - 1];
321	2/2 ✓ Branch 1 taken 197022 times. ✓ Branch 2 taken 65674 times.	525392	for (Eigen::Index row = 0; row < error.rows(); ++row) {
322	2/2 ✓ Branch 1 taken 591066 times. ✓ Branch 2 taken 197022 times.	1576176	for (Eigen::Index col = 0; col < error.cols(); ++col) {
323	6/12 ✓ Branch 1 taken 591066 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 591066 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 591066 times. ✗ Branch 9 not taken. ✓ Branch 14 taken 591066 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 591066 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 591066 times.	1182132	BOOST_CHECK_LE(std::abs(error(row, col)), 1e-2);
324			}
325			}
326			}
327		2	}
328
329	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(derivate_computation_check) {
330			// Create some start variables.
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
332	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd traj_vel_discr;
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd traj_acc_discr;
339		2	double dt = 1e-3;
340		2	std::size_t nb_sample = static_cast<std::size_t>((t_max - t_min) / dt);
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj_vel_discr.resize(3, nb_sample);
342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj_acc_discr.resize(3, nb_sample);
343
344			// Create the object.
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t traj;
346
347			// Real-time critical
348		2	Eigen::internal::set_is_malloc_allowed(false);
349
350			// Generate the trajectory.
351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	traj.generate(init_rot, end_rot, t_min, t_max);
352
353			// Evaluate the trajectory.
354	2/2 ✓ Branch 0 taken 9498 times. ✓ Branch 1 taken 1 times.	18998	for (std::size_t i = 0; i < nb_sample; ++i) {
355		18996	double t = t_min + static_cast<double>(i) * dt;
356	3/6 ✓ Branch 1 taken 9498 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9498 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9498 times. ✗ Branch 8 not taken.	18996	traj_vel_discr.col(i) = traj.derivate(t, 1);
357	3/6 ✓ Branch 1 taken 9498 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9498 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9498 times. ✗ Branch 8 not taken.	18996	traj_acc_discr.col(i) = traj.derivate(t, 2);
358			}
359
360			// Test the object.
361	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(traj.dim(), 3);
362	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(traj.min(), t_min);
363	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(traj.max(), t_max);
364	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(traj.degree(), 5.0);
365	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(traj.get_init_rotation(), init_rot);
366	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(traj.get_end_rotation(), end_rot);
367	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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK((traj(traj.min()) - init_rot).isMuchSmallerThan(1, -1e-8));
368	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 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK((traj(traj.max()) - end_rot).isMuchSmallerThan(1, -1e-8));
369	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_EQUAL(traj.derivate(traj.min(), 1), point3_t::Zero());
370	7/14 ✓ 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 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_LE(traj.derivate(traj.max(), 1).norm(), 1e-3);
371
372			// Real-time critical
373		2	Eigen::internal::set_is_malloc_allowed(true);
374
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t vel_max;
376	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	vel_max << traj_vel_discr.row(0).maxCoeff(), traj_vel_discr.row(1).maxCoeff(),
377	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	traj_vel_discr.row(2).maxCoeff();
378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t vel_min;
379	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	vel_min << traj_vel_discr.row(0).minCoeff(), traj_vel_discr.row(1).minCoeff(),
380	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	traj_vel_discr.row(2).minCoeff();
381	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	point3_t vel_amplitude = (vel_max - vel_min).array().abs();
382	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t acc_max;
383	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	acc_max << traj_acc_discr.row(0).maxCoeff(), traj_acc_discr.row(1).maxCoeff(),
384	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	traj_acc_discr.row(2).maxCoeff();
385	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	point3_t acc_min;
386	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	2	acc_min << traj_acc_discr.row(0).minCoeff(), traj_acc_discr.row(1).minCoeff(),
387	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	traj_acc_discr.row(2).minCoeff();
388	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	point3_t acc_amplitude = (acc_max - acc_min).array().abs();
389
390			// Continuity test.
391	2/2 ✓ Branch 0 taken 9497 times. ✓ Branch 1 taken 1 times.	18996	for (std::size_t i = 1; i < nb_sample; ++i) {
392	4/8 ✓ Branch 1 taken 9497 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9497 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9497 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 9497 times. ✗ Branch 11 not taken.	18994	point3_t error = traj_vel_discr.col(i) - traj_vel_discr.col(i - 1);
393	2/2 ✓ Branch 1 taken 28491 times. ✓ Branch 2 taken 9497 times.	75976	for (Eigen::Index j = 0; j < error.size(); ++j) {
394	7/14 ✓ Branch 1 taken 28491 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28491 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 28491 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 28491 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28491 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28491 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28491 times.	56982	BOOST_CHECK_LE(std::abs(error(j)), 1e-0 * vel_amplitude(j));
395			}
396			}
397
398	2/2 ✓ Branch 0 taken 9497 times. ✓ Branch 1 taken 1 times.	18996	for (std::size_t i = 1; i < nb_sample; ++i) {
399	4/8 ✓ Branch 1 taken 9497 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 9497 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 9497 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 9497 times. ✗ Branch 11 not taken.	18994	point3_t error = traj_acc_discr.col(i) - traj_acc_discr.col(i - 1);
400	2/2 ✓ Branch 1 taken 28491 times. ✓ Branch 2 taken 9497 times.	75976	for (Eigen::Index j = 0; j < error.size(); ++j) {
401	7/14 ✓ Branch 1 taken 28491 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28491 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 28491 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 28491 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28491 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28491 times. ✗ Branch 21 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28491 times.	56982	BOOST_CHECK_LE(std::abs(error(j)), 1e-0 * acc_amplitude(j));
402			}
403			}
404		2	}
405
406	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(serialization) {
407	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string fileName("fileTest_constant");
408
409			// Create some start variables.
410	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t init_quat = quaternion_t::UnitRandom();
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t init_rot = init_quat.toRotationMatrix();
412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion_t end_quat = quaternion_t::UnitRandom();
413	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	matrix3_t end_rot = end_quat.toRotationMatrix();
414	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_min = generateRandomNumber(0.0, 100.0);
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double t_max = t_min + generateRandomNumber(0.1, 10.0);
416
417			// Create the object.
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SO3Smooth_t c(init_quat, end_quat, t_min, t_max);
419
420	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	c.saveAsText<SO3Smooth_t>(fileName + ".txt");
421	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	c.saveAsXML<SO3Smooth_t>(fileName + ".xml", "constant");
422	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	c.saveAsBinary<SO3Smooth_t>(fileName);
423
424	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	SO3Smooth_t c_txt, c_xml, c_binary;
425	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	c_txt.loadFromText<SO3Smooth_t>(fileName + ".txt");
426	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	c_xml.loadFromXML<SO3Smooth_t>(fileName + ".xml", "constant");
427	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	c_binary.loadFromBinary<SO3Smooth_t>(fileName);
428
429	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(c == c_txt);
430	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(c == c_xml);
431	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(c == c_binary);
432		2	}
433
434			BOOST_AUTO_TEST_SUITE_END()
435
436			// #endif // CURVES_WITH_PINOCCHIO_SUPPORT
437