GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	169	169	100.0%
Branches:	747	1488	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016 CNRS
3			//
4
5			#include "pinocchio/multibody/joint/joint-composite.hpp"
6			#include "pinocchio/algorithm/joint-configuration.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8
9			#include <iostream>
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			using namespace pinocchio;
14			using namespace Eigen;
15
16			template<typename JointModel>
17			void test_joint_methods(
18			const JointModelBase<JointModel> & jmodel, JointModelComposite & jmodel_composite);
19
20			template<typename JointModel>
21		32	void test_joint_methods(const JointModelBase<JointModel> & jmodel)
22			{
23	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	JointModelComposite jmodel_composite(jmodel);
24	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	test_joint_methods(jmodel, jmodel_composite);
25		32	}
26
27			template<typename JointModel>
28		36	void test_joint_methods(
29			const JointModelBase<JointModel> & jmodel, JointModelComposite & jmodel_composite)
30			{
31			typedef typename JointModelBase<JointModel>::JointDataDerived JointData;
32
33	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointData jdata = jmodel.createData();
34	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointDataComposite jdata_composite = jmodel_composite.createData();
35
36	5/10 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 18 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 18 times. ✗ Branch 14 not taken.	36	jmodel_composite.setIndexes(jmodel.id(), jmodel.idx_q(), jmodel.idx_v(), jmodel.idx_vExtended());
37
38			typedef typename JointModel::ConfigVector_t ConfigVector_t;
39			typedef typename JointModel::TangentVector_t TangentVector_t;
40			typedef typename LieGroup<JointModel>::type LieGroupType;
41
42			typedef Eigen::Matrix<typename ConfigVector_t::Scalar, Eigen::Dynamic, 1, ConfigVector_t::Options>
43			DynConfigVectorType;
44			typedef DynConfigVectorType DynTangentVectorType;
45
46	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	ConfigVector_t ql(ConfigVector_t::Constant(jmodel.nq(), -M_PI));
47	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	ConfigVector_t qu(ConfigVector_t::Constant(jmodel.nq(), M_PI));
48	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	DynConfigVectorType q = LieGroupType().randomConfiguration(ql, qu);
49
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52
53	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc(jdata, q);
54	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc(jdata_composite, q);
55
56	8/16 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 18 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 18 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 18 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 18 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 18 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 18 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 18 times.	36	BOOST_CHECK(jdata_composite.M.isApprox((SE3)jdata.M));
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58
59	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	q = LieGroupType().randomConfiguration(ql, qu);
60	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	DynTangentVectorType v = TangentVector_t::Random(jmodel.nv());
61	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc(jdata, q, v);
62	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc(jdata_composite, q, v);
63
64	8/16 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 18 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 18 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 18 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 18 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 18 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 18 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 18 times.	36	BOOST_CHECK(jdata_composite.M.isApprox((SE3)jdata.M));
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68
69			// TODO: Not yet checked
70			// {
71			// VectorXd q1(jmodel.random());
72			// jmodel.normalize(q1);
73			// VectorXd q2(jmodel.random());
74			// jmodel.normalize(q2);
75			// VectorXd v(VectorXd::Random(jmodel.nv()));
76			//
77			// BOOST_CHECK(jmodel_composite.integrate(q1,v).isApprox(jmodel.integrate(q1,v)));
78			//
79			// TangentVector_t v1 = jmodel_composite.difference(q1,q2);
80			// TangentVector_t v2 = jmodel.difference(q1,q2);
81			//
82			// BOOST_CHECK(v1.isApprox(v2));
83			//
84			// const double alpha = 0.2;
85			// BOOST_CHECK(jmodel_composite.interpolate(q1,q2,alpha).isApprox(jmodel.interpolate(q1,q2,alpha)));
86			// BOOST_CHECK(math::fabs(jmodel_composite.distance(q1,q2)-jmodel.distance(q1,q2))<=
87			// NumTraits<double>::dummy_precision());
88			// }
89
90	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	Inertia::Matrix6 I0(Inertia::Random().matrix());
91
92	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I1 = I0;
93	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I2 = I0;
94
95	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	const Eigen::VectorXd armature =
96	4/8 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 18 times. ✗ Branch 11 not taken.	36	Eigen::VectorXd::Random(jmodel.nv()) + Eigen::VectorXd::Ones(jmodel.nv());
97	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc_aba(jdata, armature, I1, true);
98	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc_aba(jdata_composite, armature, I2, true);
99
100		36	double prec = 1e-10; // higher tolerance to errors due to possible numerical imprecisions
101
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105
106			// Checking the inertia was correctly updated
107			// We use isApprox as usual, except for the freeflyer,
108			// where the correct result is exacly zero and isApprox would fail.
109			// Only for this single case, we use the infinity norm of the difference
110	3/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 17 times.	36	if (jmodel.shortname() == "JointModelFreeFlyer")
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112			else
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114
115			// Test operator=
116	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointModelComposite jmodel_composite2 = jmodel_composite;
117	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointDataComposite jdata_composite2 = jmodel_composite2.createData();
118
119	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite2.calc(jdata_composite2, q, v);
120
121	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I3 = I0;
122	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite2.calc_aba(jdata_composite2, armature, I3, true);
123
124	3/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 17 times.	36	if (jmodel.shortname() == "JointModelFreeFlyer")
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126			else
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128
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130
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134
135			// Test operator <<
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137
138			// Test block operators
139		36	const int m = 100;
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141	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	const Data::Matrix6x mat_const(Data::Matrix6x::Ones(6, m));
142	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	Model::ConfigVectorType vec(Model::ConfigVectorType::Ones(m));
143	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	const Model::ConfigVectorType vec_const(Model::ConfigVectorType::Ones(m));
144
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146			jmodel.JointMappedConfigSelector(vec) == jmodel_composite.JointMappedConfigSelector(vec));
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148			jmodel.JointMappedConfigSelector(vec_const)
149			== jmodel_composite.JointMappedConfigSelector(vec_const));
150
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153			jmodel.jointConfigSelector(vec_const) == jmodel_composite.jointConfigSelector(vec_const));
154
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157			jmodel.jointVelocitySelector(vec_const) == jmodel_composite.jointVelocitySelector(vec_const));
158
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160			jmodel.JointMappedVelocitySelector(vec) == jmodel_composite.JointMappedVelocitySelector(vec));
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162			jmodel.JointMappedVelocitySelector(vec_const)
163			== jmodel_composite.JointMappedVelocitySelector(vec_const));
164
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169			jmodel.jointExtendedModelCols(mat_const) == jmodel_composite.jointExtendedModelCols(mat_const));
170		36	}
171
172			struct TestJointComposite
173			{
174
175			template<typename JointModel>
176		28	void operator()(const JointModelBase<JointModel> &) const
177			{
178	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	JointModel jmodel;
179	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	28	jmodel.setIndexes(0, 0, 0);
180
181	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	test_joint_methods(jmodel);
182		28	}
183
184			// void operator()(const JointModelBase<JointModelComposite> &) const
185			// {
186			// JointModelComposite jmodel_composite;
187			// jmodel_composite.addJoint(pinocchio::JointModelRX());
188			// jmodel_composite.addJoint(pinocchio::JointModelRY());
189			// jmodel_composite.setIndexes(0,0,0);
190			//
191			// test_joint_methods(jmodel_composite);
192			// }
193
194		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
195			{
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
198
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_methods(jmodel);
200		1	}
201
202		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
203			{
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_methods(jmodel);
207		1	}
208			};
209
210			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
211
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213			{
214			typedef boost::variant<
215			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical,
216			JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned,
217			JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelRUBX, JointModelRUBY,
218			JointModelRUBZ>
219			Variant;
220
221		2	boost::mpl::for_each<Variant::types>(TestJointComposite());
222		2	}
223
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225			{
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite jmodel_composite;
227	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	jmodel_composite.addJoint(JointModelRZ())
228	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	.addJoint(JointModelRY(), SE3::Random())
229	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	.addJoint(JointModelRX());
230	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 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_MESSAGE(jmodel_composite.nq() == 3, "Chain did not work");
231	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 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_MESSAGE(jmodel_composite.nv() == 3, "Chain did not work");
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233		2	}
234
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236			{
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelSphericalZYX jmodel_spherical;
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_spherical.setIndexes(0, 0, 0);
239
240	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	JointModelComposite jmodel_composite((JointModelRZ()));
241	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	jmodel_composite.addJoint(JointModelRY());
242	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	jmodel_composite.addJoint(JointModelRX());
243
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_joint_methods(jmodel_spherical, jmodel_composite);
245		2	}
246
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248			{
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelTranslation jmodel_translation;
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_translation.setIndexes(0, 0, 0);
251
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	JointModelComposite jmodel_composite((JointModelPX()));
253	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	jmodel_composite.addJoint(JointModelPY());
254	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	jmodel_composite.addJoint(JointModelPZ());
255
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_joint_methods(jmodel_translation, jmodel_composite);
257		2	}
258
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260			{
261			/// Create joint composite with two joints,
262	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	JointModelComposite jmodel_composite_two_rx((JointModelRX()));
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	jmodel_composite_two_rx.addJoint(JointModelRY());
264
265			/// Create Joint composite with three joints, and add a composite in it, to test the
266			/// recursive_wrapper
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	JointModelComposite jmodel_composite_recursive((JointModelFreeFlyer()));
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	jmodel_composite_recursive.addJoint(JointModelPlanar());
269	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	jmodel_composite_recursive.addJoint(jmodel_composite_two_rx);
270		2	}
271
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273			{
274	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	JointModelComposite jmodel_composite_planar((JointModelPX()));
275	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	jmodel_composite_planar.addJoint(JointModelPY());
276	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	jmodel_composite_planar.addJoint(JointModelRZ());
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_composite_planar.setIndexes(0, 0, 0, 0);
278
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointDataComposite jdata_composite_planar = jmodel_composite_planar.createData();
280
281	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q1(VectorXd::Random(3));
282	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q1_dot(VectorXd::Random(3));
283
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite model_copy = jmodel_composite_planar;
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointDataComposite data_copy = model_copy.createData();
286
287	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_MESSAGE(
288			model_copy.nq() == jmodel_composite_planar.nq(), "Test Copy Composite, nq are differents");
289	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_MESSAGE(
290			model_copy.nv() == jmodel_composite_planar.nv(), "Test Copy Composite, nv are differents");
291
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_composite_planar.calc(jdata_composite_planar, q1, q1_dot);
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model_copy.calc(data_copy, q1, q1_dot);
294		2	}
295
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297			{
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite jmodel_composite;
300
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 config = SE3::Random();
302		2	JointIndex parent = 0;
303
304	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (int i = 0; i < 10; i++)
305			{
306	4/8 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 10 times. ✗ Branch 12 not taken.	20	parent = model.addJoint(parent, JointModelRX(), config, "joint");
307	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	jmodel_composite.addJoint(JointModelRX(), config);
308
309	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	config.setRandom();
310			}
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
313
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_c;
315	4/8 ✓ 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.	2	model_c.addJoint(0, jmodel_composite, SE3::Identity(), "joint");
316
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_c(model_c);
318
319	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.nv == model_c.nv);
320	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(model.nq == model_c.nq);
321
322	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q(VectorXd::Random(model.nv));
323	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q);
325
326	7/14 ✓ Branch 1 taken 1 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.oMi.back().isApprox(data_c.oMi.back()));
327
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setRandom(model.nq);
329	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));
330	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q, v);
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 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.oMi.back().isApprox(data_c.oMi.back()));
334	7/14 ✓ Branch 1 taken 1 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.v.back().isApprox(data_c.v.back()));
335
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setRandom(model.nq);
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom(model.nv);
338	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));
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q, v, a);
341
342	7/14 ✓ Branch 1 taken 1 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.oMi.back().isApprox(data_c.oMi.back()));
343	7/14 ✓ Branch 1 taken 1 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.v.back().isApprox(data_c.v.back()));
344	7/14 ✓ Branch 1 taken 1 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.a.back().isApprox(data_c.a.back()));
345		2	}
346
347			BOOST_AUTO_TEST_SUITE_END()
348