GCC Code Coverage Report

Directory:	./
File:	unittest/centroidal.cpp
Date:	2025-04-30 16:14:33

	Exec	Total	Coverage
Lines:	285	286	99.7%
Branches:	980	1956	50.1%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2019 CNRS INRIA
3			//
4
5			#include "pinocchio/algorithm/crba.hpp"
6			#include "pinocchio/algorithm/centroidal.hpp"
7			#include "pinocchio/algorithm/rnea.hpp"
8			#include "pinocchio/algorithm/jacobian.hpp"
9			#include "pinocchio/algorithm/center-of-mass.hpp"
10			#include "pinocchio/algorithm/joint-configuration.hpp"
11
12			#include "pinocchio/multibody/sample-models.hpp"
13
14			#include "pinocchio/utils/timer.hpp"
15
16			#include <iostream>
17
18			#include <boost/test/unit_test.hpp>
19			#include <boost/utility/binary.hpp>
20
21			#include "utils/model-generator.hpp"
22
23			template<typename JointModel>
24		2	static void addJointAndBody(
25			pinocchio::Model & model,
26			const pinocchio::JointModelBase<JointModel> & joint,
27			const std::string & parent_name,
28			const std::string & name,
29			const pinocchio::SE3 placement = pinocchio::SE3::Random(),
30			bool setRandomLimits = true)
31			{
32			using namespace pinocchio;
33			typedef typename JointModel::ConfigVector_t CV;
34			typedef typename JointModel::TangentVector_t TV;
35
36			Model::JointIndex idx;
37
38	1/2 ✓ Branch 0 taken 2 times. ✗ Branch 1 not taken.	2	if (setRandomLimits)
39	21/42 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 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 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 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 55 taken 2 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 2 times. ✗ Branch 62 not taken.	2	idx = model.addJoint(
40			model.getJointId(parent_name), joint, SE3::Random(), name + "_joint",
41			TV::Random() + TV::Constant(1), TV::Random() + TV::Constant(1),
42			CV::Random() - CV::Constant(1), CV::Random() + CV::Constant(1));
43			else
44		✗	idx = model.addJoint(model.getJointId(parent_name), joint, placement, name + "_joint");
45
46	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
47
48	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity());
49	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	model.addBodyFrame(name + "_body", idx);
50		2	}
51
52			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
53
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55			{
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
58	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data data(model), data_ref(model);
59
60	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
61	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
63	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Ones(model.nv);
64
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
67	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	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
68
69	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	data_ref.Ycrb[0] = data_ref.liMi[1].act(data_ref.Ycrb[1]);
70
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref_other(model);
72	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref_other, q, pinocchio::Convention::WORLD);
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref_other.M.triangularView<Eigen::StrictlyLower>() =
74	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	data_ref_other.M.transpose().triangularView<Eigen::StrictlyLower>();
75	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data_ref_other.M.isApprox(data_ref.M));
76
77	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	pinocchio::SE3 cMo(pinocchio::SE3::Matrix3::Identity(), -data_ref.Ycrb[0].lever());
78	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 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(data_ref.Ycrb[0].isApprox(data_ref_other.oYcrb[0]));
79
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data, q, v);
81	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(data.com[0].isApprox(-cMo.translation(), 1e-12));
82	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 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(data.oYcrb[0].matrix().isApprox(data_ref.Ycrb[0].matrix(), 1e-12));
83
84	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::Inertia Ig_ref(cMo.act(data.oYcrb[0]));
85	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(data.Ig.matrix().isApprox(Ig_ref.matrix(), 1e-12));
86
87	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::SE3 oM1(data_ref.liMi[1]);
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::SE3 cM1(cMo * oM1);
89
90			pinocchio::Data::Matrix6x Ag_ref(
91	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	cM1.inverse().toActionMatrix().transpose() * data_ref.M.topRows<6>());
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93		2	}
94
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96			{
97	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
98			{
99	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
100		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
101		12	const pinocchio::Model & model_full = mimic_test_case.model_full;
102		12	const Eigen::MatrixXd & G = mimic_test_case.G;
103
104	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_mimic(model_mimic);
105	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_ref_mimic(model_mimic);
106	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_full(model_full);
107
108	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q = pinocchio::randomConfiguration(model_mimic);
109	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v = Eigen::VectorXd::Random(model_mimic.nv);
110	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a = Eigen::VectorXd::Random(model_mimic.nv);
111
112	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q_full(model_full.nq);
113	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v_full = G * v;
114	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a_full = G * a;
115
116	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	mimic_test_case.toFull(q, q_full);
117
118	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::crba(model_mimic, data_ref_mimic, q, pinocchio::Convention::LOCAL);
119	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	data_ref_mimic.M.triangularView<Eigen::StrictlyLower>() =
120	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	24	data_ref_mimic.M.transpose().triangularView<Eigen::StrictlyLower>();
121
122	2/4 ✓ Branch 3 taken 6 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	data_ref_mimic.Ycrb[0] = data_ref_mimic.liMi[1].act(data_ref_mimic.Ycrb[1]);
123	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_ref_other(model_mimic);
124	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::crba(model_mimic, data_ref_other, q, pinocchio::Convention::WORLD);
125	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	data_ref_other.M.triangularView<Eigen::StrictlyLower>() =
126	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	24	data_ref_other.M.transpose().triangularView<Eigen::StrictlyLower>();
127
128	3/6 ✓ Branch 3 taken 6 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 6 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 6 times. ✗ Branch 10 not taken.	12	pinocchio::SE3 cMo(pinocchio::SE3::Matrix3::Identity(), -data_ref_mimic.Ycrb[0].lever());
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130
131	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	ccrba(model_mimic, data_mimic, q, v);
132	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	ccrba(model_full, data_full, q_full, v_full);
133	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 6 times.	12	BOOST_CHECK(data_mimic.com[0].isApprox(data_full.com[0], 1e-12));
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135
136	9/18 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 6 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 6 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 6 times.	12	BOOST_CHECK(data_mimic.com[0].isApprox(-cMo.translation(), 1e-12));
137	9/18 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 6 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 6 times. ✗ Branch 29 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 6 times.	12	BOOST_CHECK(data_mimic.oYcrb[0].matrix().isApprox(data_ref_mimic.Ycrb[0].matrix(), 1e-12));
138
139	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	pinocchio::Inertia Ig_ref(cMo.act(data_mimic.oYcrb[0]));
140	9/18 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 6 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 6 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 6 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 6 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 6 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 6 times.	12	BOOST_CHECK(data_mimic.Ig.matrix().isApprox(Ig_ref.matrix(), 1e-12));
141
142	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	pinocchio::SE3 oM1(data_ref_other.liMi[1]);
143	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::SE3 cM1(cMo * oM1);
144			pinocchio::Data::Matrix6x Ag_ref(
145	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken.	12	cM1.inverse().toActionMatrix().transpose() * data_ref_other.M.topRows<6>());
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147		12	}
148		2	}
149
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151			{
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
154	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data data(model), data_ref(model);
155
156	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
157	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
159	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
160
161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMap(model, data, q);
162	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
163
164	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(data.J.isApprox(data_ref.J));
165	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(data.Ag.isApprox(data_ref.Ag));
166
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
168
169	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(data.J.isApprox(data_ref.J));
170		2	}
171
172	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(test_dccrb)
173			{
174			using namespace pinocchio;
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
177	5/10 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken.	2	addJointAndBody(model, JointModelSpherical(), "larm6_joint", "larm7");
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
179
180	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
181	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
182
183			Eigen::VectorXd q =
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit);
185	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
186	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
187
188	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	const Eigen::VectorXd g = rnea(model, data_ref, q, 0 * v, 0 * a);
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a);
190
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
193	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	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 cMo(SE3::Identity());
196	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	data_ref.Ycrb[0] = data_ref.liMi[1].act(data_ref.Ycrb[1]);
197	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	cMo.translation() = -data_ref.Ycrb[0].lever();
198
199	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 oM1(data_ref.liMi[1]);
200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 cM1(cMo * oM1);
201	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	Data::Matrix6x Ag_ref(cM1.toDualActionMatrix() * data_ref.M.topRows<6>());
202
203	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	Force hdot_ref(cM1.act(Force(data_ref.tau.head<6>() - g.head<6>())));
204
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
207	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(data.Ag.isApprox(Ag_ref));
208	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(data.Ag.isApprox(data_ref.Ag));
209	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(data.hg.isApprox(data_ref.hg));
210
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	centerOfMass(model, data_ref, q, v, a);
212	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 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(data_ref.com[0].isApprox(data_ref.Ycrb[0].lever()));
213	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 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 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(data_ref.vcom[0].isApprox(data.hg.linear() / data_ref.M(0, 0)));
214	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 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(data_ref.vcom[0].isApprox(data.vcom[0]));
215	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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 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 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(data_ref.acom[0].isApprox(hdot_ref.linear() / data_ref.M(0, 0)));
216
217	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	Force hdot(data.Ag * a + data.dAg * v);
218	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(hdot.isApprox(hdot_ref));
219
220	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dccrba(model, data, q, 0 * v);
221	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(data.dAg.isZero());
222
223			// Check that dYcrb is equal to doYcrb
224			{
225			// Compute dYcrb
226	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	Data data_ref(model), data_ref_plus(model), data(model);
227
228		2	const double alpha = 1e-8;
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
231
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref_plus, q_plus, pinocchio::Convention::LOCAL);
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref_plus, q_plus);
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
237
238	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t i = 1; i < (size_t)model.njoints; ++i)
239			{
240	2/4 ✓ Branch 3 taken 28 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 28 times. ✗ Branch 7 not taken.	56	Inertia::Matrix6 dYcrb = (data_ref_plus.oMi[i].act(data_ref_plus.Ycrb[i]).matrix()
241	3/6 ✓ Branch 3 taken 28 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 28 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 28 times. ✗ Branch 10 not taken.	112	- data_ref.oMi[i].act(data_ref.Ycrb[i]).matrix())
242	2/4 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 28 times. ✗ Branch 5 not taken.	56	/ alpha;
243	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 28 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 28 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 28 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 28 times.	56	BOOST_CHECK(data.doYcrb[i].isApprox(dYcrb, sqrt(alpha)));
244			}
245		2	}
246
247			{
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref(SE3::Identity());
251	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref.translation() = data_ref.com[0];
252	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	const Data::Matrix6x Ag_ref = oMc_ref.toDualActionMatrix() * data_ref.Ag;
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
254			const Data::Matrix6x Ag_ref_from_M =
255	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	data_ref.oMi[1].toDualActionMatrix() * data_ref.M.topRows<6>();
256
257		2	const double alpha = 1e-8;
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
259	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q_plus, v);
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref_plus(SE3::Identity());
262	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref_plus.translation() = data_ref.com[0];
263	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x Ag_plus_ref = oMc_ref_plus.toDualActionMatrix() * data_ref.Ag;
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q_plus, pinocchio::Convention::LOCAL);
265			const Data::Matrix6x Ag_plus_ref_from_M =
266	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	data_ref.oMi[1].toDualActionMatrix() * data_ref.M.topRows<6>();
267	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	const Data::Matrix6x dAg_ref = (Ag_plus_ref - Ag_ref) / alpha;
268	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x dAg_ref_from_M = (Ag_plus_ref_from_M - Ag_ref_from_M) / alpha;
269
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc(SE3::Identity());
272	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc.translation() = data.com[0];
273	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	Data::Matrix6x dAg = oMc.toDualActionMatrix() * data.dAg;
274	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(oMc.isApprox(oMc_ref));
275	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(dAg_ref.isApprox(dAg_ref_from_M, sqrt(alpha)));
276		2	}
277
278			// Check for dAg/dt
279			{
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Data::Matrix6x Ag_ref = data_ref.Ag;
283
284		2	const double alpha = 1e-8;
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
286	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q_plus, v);
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Data::Matrix6x Ag_plus_ref = data_ref.Ag;
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	const Data::Matrix6x dAg_ref = (Ag_plus_ref - Ag_ref) / alpha;
290
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
292	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(data.dAg.isApprox(dAg_ref, sqrt(alpha)));
293		2	}
294
295			// Compute tensor dAg/dq
296			{
297	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.	4	std::vector<Data::Matrix6x> dAgdq((size_t)model.nv, Data::Matrix6x::Zero(6, model.nv));
298	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_fd(model);
299	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v_fd(Eigen::VectorXd::Zero(model.nv));
300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_fd, q, v);
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref(SE3::Identity());
302	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref.translation() = data_fd.com[0];
303
304	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	Data::Matrix6x Ag0 = oMc_ref.toDualActionMatrix() * data_fd.Ag;
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Force hg0 = oMc_ref.act(data_fd.hg);
306
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Ag_fd(6, model.nv);
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force hg_fd;
309		2	const double alpha = 1e-8;
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dhdq(6, model.nv);
312	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (int k = 0; k < model.nv; ++k)
313			{
314	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_fd[k] = alpha;
315	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	q_plus = integrate(model, q, v_fd);
316	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	ccrba(model, data_fd, q_plus, v);
317	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	SE3 oMc_fd(SE3::Identity());
318	2/4 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken.	70	oMc_fd.translation() = data_fd.com[0];
319	3/6 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken.	70	Ag_fd = oMc_fd.toDualActionMatrix() * data_fd.Ag;
320	2/4 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken.	70	hg_fd = oMc_fd.act(data_fd.hg);
321	3/6 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 35 times. ✗ Branch 9 not taken.	70	dAgdq[(size_t)k] = (Ag_fd - Ag0) / alpha;
322	5/10 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 35 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 35 times. ✗ Branch 14 not taken.	70	dhdq.col(k) = (hg_fd - hg0).toVector() / alpha;
323	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_fd[k] = 0.;
324			}
325
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dAg_ref(6, model.nv);
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dAg_ref.setZero();
328	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (int k = 0; k < model.nv; ++k)
329			{
330	3/6 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 35 times. ✗ Branch 9 not taken.	70	dAg_ref.col(k) = dAgdq[(size_t)k] * v;
331			}
332
333	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(dhdq.isApprox(dAg_ref, sqrt(alpha)));
334	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((dAg_ref * v).isApprox(dhdq * v, sqrt(alpha)));
335		2	}
336		2	}
337
338	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(test_centroidal_mapping_time_derivative)
339			{
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
342	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data data(model), data_ref(model);
343
344	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
345	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
346	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
348
349	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMapTimeVariation(model, data, q, v);
350	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data_ref, q, v);
351
352	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(data.J.isApprox(data_ref.J));
353	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(data.dJ.isApprox(data_ref.dJ));
354	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(data.Ag.isApprox(data_ref.Ag));
355	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(data.dAg.isApprox(data_ref.dAg));
356
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data_ref, q, v);
358
359	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(data.J.isApprox(data_ref.J));
360	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(data.dJ.isApprox(data_ref.dJ));
361		2	}
362
363	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(test_computeCentroidalMomentum_computeCentroidalMomentumTimeVariation)
364			{
365			using namespace pinocchio;
366	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
368	5/10 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken.	2	addJointAndBody(model, JointModelSpherical(), "larm6_joint", "larm7");
369	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	Data data(model), data_fk1(model), data_fk2(model), data_ref(model);
370
371	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
372	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
373
374			Eigen::VectorXd q =
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit);
376	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
377	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
378
379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v);
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	centerOfMass(model, data_ref, q, v, false);
382	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentum(model, data, q, v);
383
384	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(data.mass[0] == data_ref.mass[0]);
385	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 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(data.com[0].isApprox(data_ref.com[0]));
386	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(data.hg.isApprox(data_ref.hg));
387	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t k = 1; k < (size_t)model.njoints; ++k)
388			{
389	6/12 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 28 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 28 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28 times.	56	BOOST_CHECK(data.mass[k] == data_ref.mass[k]);
390	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.com[k].isApprox(data_ref.com[k]));
391	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.v[k].isApprox(data_ref.v[k]));
392			}
393
394			// Check other signature
395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_fk1, q, v);
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentum(model, data_fk1);
397
398	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(data_fk1.hg.isApprox(data.hg));
399
400	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentumTimeVariation(model, data, q, v, a);
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
402	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a);
403	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data_ref, q, v);
404	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	const Force hgdot(data_ref.Ag * a + data_ref.dAg * v);
405
406	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(data.mass[0] == data_ref.mass[0]);
407	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 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(data.com[0].isApprox(data_ref.com[0]));
408	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(data.hg.isApprox(data_ref.hg));
409	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(data.dhg.isApprox(hgdot));
410	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t k = 1; k < (size_t)model.njoints; ++k)
411			{
412	6/12 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 28 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 28 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28 times.	56	BOOST_CHECK(data.mass[k] == data_ref.mass[k]);
413	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.com[k].isApprox(data_ref.com[k]));
414	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.v[k].isApprox(data_ref.v[k]));
415	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.a[k].isApprox(data_ref.a_gf[k]));
416	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.f[k].isApprox(data_ref.f[k]));
417			}
418
419			// Check other signature
420	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_fk2, q, v, a);
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentumTimeVariation(model, data_fk2);
422
423	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(data_fk2.hg.isApprox(data.hg));
424	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(data_fk2.dhg.isApprox(data.dhg));
425
426			// Check against finite differences
427	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fd(model);
428		2	const double eps = 1e-8;
429	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	Eigen::VectorXd v_plus = v + eps * a;
430	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q_plus = integrate(model, q, eps * v);
431
432	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Force hg = computeCentroidalMomentum(model, data_fd, q, v);
433	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const SE3::Vector3 com = data_fd.com[0];
434	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Force hg_plus = computeCentroidalMomentum(model, data_fd, q_plus, v_plus);
435	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const SE3::Vector3 com_plus = data_fd.com[0];
436
437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 transform(SE3::Identity());
438	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	transform.translation() = com_plus - com;
439	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	Force dhg_ref = (transform.act(hg_plus) - hg) / eps;
440
441	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(data.dhg.isApprox(dhg_ref, sqrt(eps)));
442		2	}
443
444			BOOST_AUTO_TEST_SUITE_END()
445