GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	432	432	100.0%
Branches:	1504	3022	49.8%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2024 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/model.hpp"
8			#include "pinocchio/algorithm/jacobian.hpp"
9			#include "pinocchio/algorithm/frames.hpp"
10			#include "pinocchio/algorithm/rnea.hpp"
11			#include "pinocchio/algorithm/crba.hpp"
12			#include "pinocchio/spatial/act-on-set.hpp"
13			#include "pinocchio/multibody/sample-models.hpp"
14			#include "pinocchio/utils/timer.hpp"
15			#include "pinocchio/algorithm/joint-configuration.hpp"
16
17			#include <iostream>
18
19			#include <boost/test/unit_test.hpp>
20			#include <boost/utility/binary.hpp>
21
22			#include "utils/model-generator.hpp"
23
24			template<typename Derived>
25		1	inline bool isFinite(const Eigen::MatrixBase<Derived> & x)
26			{
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28			}
29
30			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
31
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33			{
34			using namespace pinocchio;
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
36	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
37
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39	2/2 ✓ Branch 5 taken 55 times. ✓ Branch 6 taken 1 times.	112	for (Model::FrameVector::const_iterator it = model.frames.begin(); it != model.frames.end(); ++it)
40			{
41		110	const Frame & frame = *it;
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43	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	Frame frame_copy(frame);
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45		110	}
46
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48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::ostringstream os;
49	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	os << frame1 << std::endl;
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51
52			// Check other signature
53	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Frame frame2("toto", 0, frame1.placement, OP_FRAME);
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55		2	}
56
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58			{
59			using namespace pinocchio;
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61
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64
65			typedef FrameTpl<long double> Frameld;
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67
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69		2	}
70
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72			{
73			using namespace Eigen;
74			using namespace pinocchio;
75
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
78	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
79	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
80	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
82	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
84
85	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
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88
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90			data.oMf[model.getFrameId(frame_name)].isApprox(data.oMi[parent_idx] * framePlacement));
91		2	}
92
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94			{
95			using namespace Eigen;
96			using namespace pinocchio;
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
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101	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
102	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
104			Model::FrameIndex frame_idx =
105	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
108
109	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
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111
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
114
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116
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118		2	}
119
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121			{
122			using namespace Eigen;
123			using namespace pinocchio;
124
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
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128	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
129	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
131			Model::FrameIndex frame_idx =
132	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
135
136	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
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138
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140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacement(model, data, frame_idx);
141
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143
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145		2	}
146
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148			{
149			using namespace Eigen;
150			using namespace pinocchio;
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	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
155	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
156	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
158			Model::FrameIndex frame_idx =
159	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
161
162	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
163	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
164	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
166
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion vf = getFrameVelocity(model, data, frame_idx);
168
169	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 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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(vf.isApprox(framePlacement.actInv(data.v[parent_idx])));
170
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v);
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_ref = getFrameVelocity(model, data_ref, frame_idx);
175
176	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_ref.isApprox(getFrameVelocity(model, data, frame_idx)));
177	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_ref.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL)));
178	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(
179			data_ref.oMf[frame_idx].act(v_ref).isApprox(getFrameVelocity(model, data, frame_idx, WORLD)));
180	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero())
181			.act(v_ref)
182			.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
183		2	}
184
185	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_acceleration)
186			{
187			using namespace Eigen;
188			using namespace pinocchio;
189
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
192	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
193	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
194	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
196			Model::FrameIndex frame_idx =
197	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
199
200	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
203	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Ones(model.nv);
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
205
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion af = getFrameAcceleration(model, data, frame_idx);
207
208	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 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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(af.isApprox(framePlacement.actInv(data.a[parent_idx])));
209
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx);
214
215	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx)));
216	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL)));
217	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_ref.oMf[frame_idx].act(a_ref).isApprox(
218			getFrameAcceleration(model, data, frame_idx, WORLD)));
219	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero())
220			.act(a_ref)
221			.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
222		2	}
223
224	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_classic_acceleration)
225			{
226			using namespace Eigen;
227			using namespace pinocchio;
228
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
231	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
232	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
233	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
235			Model::FrameIndex frame_idx =
236	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
238
239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
240	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
241	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
242	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Ones(model.nv);
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
244
245	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Motion vel = framePlacement.actInv(data.v[parent_idx]);
246	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Motion acc = framePlacement.actInv(data.a[parent_idx]);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3d linear;
248
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_local = acc;
250	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	linear = acc.linear() + vel.angular().cross(vel.linear());
251	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_local.linear() = linear;
252
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion af = getFrameClassicalAcceleration(model, data, frame_idx);
254
255	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(af.isApprox(acc_classical_local));
256
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
260
261	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 T_ref = data_ref.oMf[frame_idx];
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_ref = getFrameVelocity(model, data_ref, frame_idx);
263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx);
264
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_local_ref = a_ref;
266	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	linear = a_ref.linear() + v_ref.angular().cross(v_ref.linear());
267	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_local_ref.linear() = linear;
268
269	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
270			acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx)));
271	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
272			acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, LOCAL)));
273
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion vel_world_ref = T_ref.act(v_ref);
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_world_ref = T_ref.act(a_ref);
276	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	linear = acc_classical_world_ref.linear() + vel_world_ref.angular().cross(vel_world_ref.linear());
277	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_world_ref.linear() = linear;
278
279	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
280			acc_classical_world_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, WORLD)));
281
282	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	Motion vel_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(v_ref);
283	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	Motion acc_classical_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(a_ref);
284			linear =
285	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_classical_aligned_ref.linear() + vel_aligned_ref.angular().cross(vel_aligned_ref.linear());
286	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_aligned_ref.linear() = linear;
287
288	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(acc_classical_aligned_ref.isApprox(
289			getFrameClassicalAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
290		2	}
291
292	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_frame_getters)
293			{
294			using namespace Eigen;
295			using namespace pinocchio;
296
297			// Build a simple 1R planar model
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
299	5/10 ✓ 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. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	JointIndex parentId = model.addJoint(0, JointModelRZ(), SE3::Identity(), "Joint1");
300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	FrameIndex frameId = model.addFrame(
301	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken.	4	Frame("Frame1", parentId, 0, SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), OP_FRAME));
302
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
304
305			// Predetermined configuration values
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q(model.nq);
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << M_PI / 2;
308
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v(model.nv);
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v << 1.0;
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a(model.nv);
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	a << 0.0;
314
315			// Expected velocity
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_local;
317	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	v_local.linear() = Vector3d(0.0, 1.0, 0.0);
318	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	v_local.angular() = Vector3d(0.0, 0.0, 1.0);
319
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_world;
321	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	v_world.linear() = Vector3d::Zero();
322	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	v_world.angular() = Vector3d(0.0, 0.0, 1.0);
323
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_align;
325	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	v_align.linear() = Vector3d(-1.0, 0.0, 0.0);
326	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	v_align.angular() = Vector3d(0.0, 0.0, 1.0);
327
328			// Expected classical acceleration
329	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_local;
330	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	ac_local.linear() = Vector3d(-1.0, 0.0, 0.0);
331	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	ac_local.angular() = Vector3d::Zero();
332
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_world = Motion::Zero();
334
335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_align;
336	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ac_align.linear() = Vector3d(0.0, -1.0, 0.0);
337	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	ac_align.angular() = Vector3d::Zero();
338
339			// Perform kinematics
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
341
342			// Check output velocity
343	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_local.isApprox(getFrameVelocity(model, data, frameId)));
344	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_local.isApprox(getFrameVelocity(model, data, frameId, LOCAL)));
345	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_world.isApprox(getFrameVelocity(model, data, frameId, WORLD)));
346	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_align.isApprox(getFrameVelocity(model, data, frameId, LOCAL_WORLD_ALIGNED)));
347
348			// Check output acceleration (all zero)
349	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(getFrameAcceleration(model, data, frameId).isZero());
350	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(getFrameAcceleration(model, data, frameId, LOCAL).isZero());
351	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(getFrameAcceleration(model, data, frameId, WORLD).isZero());
352	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED).isZero());
353
354			// Check output classical acceleration
355	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId)));
356	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL)));
357	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_world.isApprox(getFrameClassicalAcceleration(model, data, frameId, WORLD)));
358	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
359			ac_align.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED)));
360		2	}
361
362			// Test getFrameJacobian
363			// Jacobian is calculated in LOCAL, WORLD and LOCAL_WORLD_ALIGNED and tested against velocity.
364		189	void test_get_frame_jacobian_impl(
365			const pinocchio::Model & input_model, pinocchio::JointIndex joint_idx)
366			{
367			using namespace Eigen;
368			using namespace pinocchio;
369
370	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Model model(input_model);
371	1/2 ✓ Branch 2 taken 189 times. ✗ Branch 3 not taken.	189	const std::string & frame_name = std::string(model.names[joint_idx] + "_frame");
372	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	const SE3 & framePlacement = SE3::Random();
373	3/6 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 189 times. ✗ Branch 8 not taken.	189	auto frame_idx = model.addFrame(Frame(frame_name, joint_idx, 0, framePlacement, OP_FRAME));
374
375	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	pinocchio::Data data(model);
376			// data_ref is used to compute the frame velocity
377	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	pinocchio::Data data_ref(model);
378
379	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	model.lowerPositionLimit.head<7>().fill(-1.);
380	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	model.upperPositionLimit.head<7>().fill(1.);
381	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	VectorXd q = randomConfiguration(model);
382	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	VectorXd v = VectorXd::Random(model.nv);
383
384	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeJointJacobians(model, data, q);
385	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	updateFramePlacement(model, data, frame_idx);
386
387	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	forwardKinematics(model, data_ref, q, v);
388	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	updateFramePlacement(model, data_ref, frame_idx);
389
390			// In LOCAL frame
391	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_local(Data::Matrix6x::Zero(6, model.nv));
392	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getFrameJacobian(model, data, frame_idx, LOCAL, J_local);
393	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	auto frame_velocity_local = getFrameVelocity(model, data_ref, frame_idx, LOCAL);
394	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_local * v).isApprox(frame_velocity_local.toVector()));
395
396			// In WORLD frame
397	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_world(Data::Matrix6x::Zero(6, model.nv));
398	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getFrameJacobian(model, data, frame_idx, WORLD, J_world);
399	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	auto frame_velocity_world = getFrameVelocity(model, data_ref, frame_idx, WORLD);
400	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_world * v).isApprox(frame_velocity_world.toVector()));
401
402			// In LOCAL_WORLD_ALIGNED frame
403	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_local_world_aligned(Data::Matrix6x::Zero(6, model.nv));
404	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getFrameJacobian(model, data, frame_idx, LOCAL_WORLD_ALIGNED, J_local_world_aligned);
405			auto frame_velocity_local_world_aligned =
406	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getFrameVelocity(model, data_ref, frame_idx, LOCAL_WORLD_ALIGNED);
407	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_local_world_aligned * v).isApprox(frame_velocity_local_world_aligned.toVector()));
408		189	}
409
410			// Test getFrameJacobian on normal models
411	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_get_frame_jacobian)
412			{
413			using namespace Eigen;
414			using namespace pinocchio;
415
416	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
417	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
418	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (int j = 1; j < model.njoints; j++)
419			{
420	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	test_get_frame_jacobian_impl(model, static_cast<pinocchio::JointIndex>(j));
421			}
422		2	}
423
424			// Test getFrameJacobian on model with mimic joint
425	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_get_frame_jacobian_mimic)
426			{
427			using namespace Eigen;
428			using namespace pinocchio;
429
430	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
431			{
432	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
433		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
434	2/2 ✓ Branch 0 taken 162 times. ✓ Branch 1 taken 6 times.	336	for (int j = 1; j < model_mimic.njoints; j++)
435			{
436	1/2 ✓ Branch 1 taken 162 times. ✗ Branch 2 not taken.	324	test_get_frame_jacobian_impl(model_mimic, static_cast<pinocchio::JointIndex>(j));
437			}
438		12	}
439		2	}
440
441			// Test computeFrameJacobian
442			// Jacobian is calculated in LOCAL, WORLD and LOCAL_WORLD_ALIGNED and tested against velocity.
443		189	void test_compute_frame_jacobian_impl(
444			const pinocchio::Model & input_model, pinocchio::JointIndex joint_idx)
445			{
446			using namespace Eigen;
447			using namespace pinocchio;
448
449	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Model model(input_model);
450	1/2 ✓ Branch 2 taken 189 times. ✗ Branch 3 not taken.	189	const std::string & frame_name = std::string(model.names[joint_idx] + "_frame");
451	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	const SE3 & framePlacement = SE3::Random();
452	3/6 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 189 times. ✗ Branch 8 not taken.	189	auto frame_idx = model.addFrame(Frame(frame_name, joint_idx, 0, framePlacement, OP_FRAME));
453
454	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	pinocchio::Data data(model);
455			// data_ref is used to compute the frame velocity
456	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	pinocchio::Data data_ref(model);
457
458	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	model.lowerPositionLimit.head<7>().fill(-1.);
459	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	model.upperPositionLimit.head<7>().fill(1.);
460	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	VectorXd q = randomConfiguration(model);
461	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	VectorXd v = VectorXd::Random(model.nv);
462
463	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	forwardKinematics(model, data_ref, q, v);
464	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	updateFramePlacement(model, data_ref, frame_idx);
465
466			// In LOCAL frame
467	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_local(Data::Matrix6x::Zero(6, model.nv));
468	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeFrameJacobian(model, data, q, frame_idx, LOCAL, J_local);
469	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	auto frame_velocity_local = getFrameVelocity(model, data_ref, frame_idx, LOCAL);
470	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_local * v).isApprox(frame_velocity_local.toVector()));
471
472			// In WORLD frame
473	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_world(Data::Matrix6x::Zero(6, model.nv));
474	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeFrameJacobian(model, data, q, frame_idx, WORLD, J_world);
475	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	auto frame_velocity_world = getFrameVelocity(model, data_ref, frame_idx, WORLD);
476	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_world * v).isApprox(frame_velocity_world.toVector()));
477
478			// In LOCAL_WORLD_ALIGNED frame
479	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x J_local_world_aligned(Data::Matrix6x::Zero(6, model.nv));
480	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeFrameJacobian(model, data, q, frame_idx, LOCAL_WORLD_ALIGNED, J_local_world_aligned);
481			auto frame_velocity_local_world_aligned =
482	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getFrameVelocity(model, data_ref, frame_idx, LOCAL_WORLD_ALIGNED);
483	9/18 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 189 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 189 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 189 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 189 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 189 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 189 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 189 times.	189	BOOST_CHECK((J_local_world_aligned * v).isApprox(frame_velocity_local_world_aligned.toVector()));
484		189	}
485
486			// Test computeFrameJacobian on normal models
487	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_compute_frame_jacobian)
488			{
489			using namespace Eigen;
490			using namespace pinocchio;
491
492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
493	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
494	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (int j = 1; j < model.njoints; j++)
495			{
496	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	test_compute_frame_jacobian_impl(model, static_cast<pinocchio::JointIndex>(j));
497			}
498		2	}
499
500			// Test computeFrameJacobian on model with mimic joint
501	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_compute_frame_jacobian_mimic)
502			{
503			using namespace Eigen;
504			using namespace pinocchio;
505
506	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
507			{
508	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i, true);
509		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
510	2/2 ✓ Branch 0 taken 162 times. ✓ Branch 1 taken 6 times.	336	for (int j = 1; j < model_mimic.njoints; j++)
511			{
512	1/2 ✓ Branch 1 taken 162 times. ✗ Branch 2 not taken.	324	test_compute_frame_jacobian_impl(model_mimic, static_cast<pinocchio::JointIndex>(j));
513			}
514		12	}
515		2	}
516
517	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_frame_jacobian_time_variation)
518			{
519			using namespace Eigen;
520			using namespace pinocchio;
521
522	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
523	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
524	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
525	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
526	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
527	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
528	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
529	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
530	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
531
532			VectorXd q = randomConfiguration(
533	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	model, -1 * Eigen::VectorXd::Ones(model.nq), Eigen::VectorXd::Ones(model.nq));
534	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Random(model.nv);
535	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Random(model.nv);
536
537	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
538	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
539
540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
541	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
542
543	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(isFinite(data.dJ));
544
545	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::Index idx = model.getFrameId(frame_name);
546		2	const Frame & frame = model.frames[idx];
547	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(frame.placement.isApprox_impl(framePlacement));
548
549	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J(6, model.nv);
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
552	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
553
554			// Regarding to the WORLD origin
555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, WORLD, J);
556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ);
557
558	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion v_idx(J * v);
559	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion & v_ref_local = frame.placement.actInv(data_ref.v[parent_idx]);
560	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion & v_ref = data_ref.oMf[idx].act(v_ref_local);
561
562	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	const SE3 wMf = SE3(data_ref.oMf[idx].rotation(), SE3::Vector3::Zero());
563	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion v_ref_local_world_aligned = wMf.act(v_ref_local);
564	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(v_idx.isApprox(v_ref));
565
566	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	Motion a_idx(J * a + dJ * v);
567	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion a_ref_local = frame.placement.actInv(data_ref.a[parent_idx]);
568	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion a_ref = data_ref.oMf[idx].act(a_ref_local);
569	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion a_ref_local_world_aligned = wMf.act(a_ref_local);
570	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(a_idx.isApprox(a_ref));
571
572	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
574			// Regarding to the LOCAL frame
575	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL, J);
576	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ);
577
578	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	v_idx = (Motion::Vector6)(J * v);
579	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(v_idx.isApprox(v_ref_local));
580
581	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	a_idx = (Motion::Vector6)(J * a + dJ * v);
582	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(a_idx.isApprox(a_ref_local));
583
584			// Regarding to the LOCAL_WORLD_ALIGNED frame
585	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J);
586	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
587	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::Motion world_v_frame = data.ov[parent_idx];
588	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	world_v_frame.linear().setZero();
589
590	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	v_idx = (Motion::Vector6)(J * v);
591	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(v_idx.isApprox(v_ref_local_world_aligned));
592
593	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	a_idx = (Motion::Vector6)(J * a + dJ * v);
594	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
595			a_idx.isApprox(world_v_frame.cross(wMf.act(v_ref_local)) + a_ref_local_world_aligned));
596
597			// compare to finite differencies
598			{
599	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
600
601		2	const double alpha = 1e-8;
602	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
603	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);
604
605			// data_ref
606	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x J_ref_world(6, model.nv), J_ref_local(6, model.nv),
607	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local_world_aligned(6, model.nv);
608	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_world.fill(0.);
609	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local.fill(0.);
610	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local_world_aligned.fill(0.);
611	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
612	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, WORLD, J_ref_world);
614	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, LOCAL, J_ref_local);
615	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned);
616
617			// data_ref_plus
618	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x J_ref_plus_world(6, model.nv), J_ref_plus_local(6, model.nv),
619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local_world_aligned(6, model.nv);
620	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_world.fill(0.);
621	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local.fill(0.);
622	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local_world_aligned.fill(0.);
623	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
624	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref_plus);
625	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus_world);
626	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus_local);
627	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(
628			model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus_local_world_aligned);
629
630	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x dJ_ref_world(6, model.nv), dJ_ref_local(6, model.nv),
631	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local_world_aligned(6, model.nv);
632	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_world.fill(0.);
633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local.fill(0.);
634	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local_world_aligned.fill(0.);
635	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	dJ_ref_world = (J_ref_plus_world - J_ref_world) / alpha;
636	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	dJ_ref_local = (J_ref_plus_local - J_ref_local) / alpha;
637			dJ_ref_local_world_aligned =
638	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	(J_ref_plus_local_world_aligned - J_ref_local_world_aligned) / alpha;
639
640			// data
641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
642	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
643	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
644	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x dJ_world(6, model.nv), dJ_local(6, model.nv),
645	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local_world_aligned(6, model.nv);
646	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_world.fill(0.);
647	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local.fill(0.);
648	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local_world_aligned.fill(0.);
649	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ_world);
650	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ_local);
651	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ_local_world_aligned);
652
653	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(dJ_world.isApprox(dJ_ref_world, sqrt(alpha)));
654	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(dJ_local.isApprox(dJ_ref_local, sqrt(alpha)));
655	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(dJ_local_world_aligned.isApprox(dJ_ref_local_world_aligned, sqrt(alpha)));
656		2	}
657		2	}
658
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660			{
661			using namespace Eigen;
662			using namespace pinocchio;
663
664			// Create a humanoid robot
665	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_free;
666	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoid(model_free, true);
667	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_free(model_free);
668
669			// Set freeflyer limits to allow for randomConfiguration
670	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	model_free.lowerPositionLimit.segment(0, 3) << Vector3d::Constant(-1);
671	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	model_free.upperPositionLimit.segment(0, 3) << Vector3d::Constant(1);
672
673			// Joint of interest (that will be converted to frame)
674	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint_name = "chest2_joint";
675	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const JointIndex joint_id = model_free.getJointId(joint_name);
676
677			// Duplicate of the model with the joint of interest fixed (to make a frame)
678	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	pinocchio::Model model_fix = buildReducedModel(model_free, {joint_id}, neutral(model_free));
679	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fix(model_fix);
680	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const FrameIndex frame_id = model_fix.getFrameId(joint_name);
681
682			// Const variable to help convert q, v, a from one model to another
683	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const int joint_idx_q(model_free.joints[joint_id].idx_q());
684	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const int joint_idx_v(model_free.joints[joint_id].idx_v());
685
686			// Pick random q, v, a
687	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_free = randomConfiguration(model_free);
688	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_free(VectorXd::Random(model_free.nv));
689	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a_free(VectorXd::Random(model_free.nv));
690
691			// Set joint of interest to q, v, a = 0 to mimic the fixed joint
692	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_free[joint_idx_q] = 0;
693	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_free[joint_idx_v] = 0;
694	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	a_free[joint_idx_v] = 0;
695
696			// Adapt configuration for fixed joint model
697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_fix(model_fix.nq);
698	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	q_fix << q_free.head(joint_idx_q), q_free.tail(model_free.nq - joint_idx_q - 1);
699	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_fix(model_fix.nv);
700	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	v_fix << v_free.head(joint_idx_v), v_free.tail(model_free.nv - joint_idx_v - 1);
701	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a_fix(model_fix.nv);
702	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	a_fix << a_free.head(joint_idx_v), a_free.tail(model_free.nv - joint_idx_v - 1);
703
704			// Compute inertia/force for both models differently
705	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_fix, data_fix, q_fix, v_fix, a_fix);
706	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model_free, data_free, q_free, Convention::WORLD);
707
708	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Inertia inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, false);
709	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Inertia inertia_free(model_free.inertias[joint_id]);
710	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(inertia_fix.isApprox(inertia_free));
711
712	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, true);
713	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	inertia_free = data_free.oMi[joint_id].actInv(data_free.oYcrb[joint_id]);
714	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(inertia_fix.isApprox(inertia_free));
715
716	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model_fix, data_fix, q_fix, v_fix, a_fix);
717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model_free, data_free, q_free, v_free, a_free);
718
719	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force force_fix = computeSupportedForceByFrame(model_fix, data_fix, frame_id);
720	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Force force_free(data_free.f[joint_id]);
721	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(force_fix.isApprox(force_free));
722		2	}
723			BOOST_AUTO_TEST_SUITE_END()
724