GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	208	208	100.0%
Branches:	503	1024	49.1%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/jacobian.hpp"
8			#include "pinocchio/algorithm/kinematics.hpp"
9			#include "pinocchio/algorithm/rnea.hpp"
10			#include "pinocchio/spatial/act-on-set.hpp"
11			#include "pinocchio/multibody/sample-models.hpp"
12			#include "pinocchio/utils/timer.hpp"
13			#include "pinocchio/algorithm/joint-configuration.hpp"
14
15			#include <boost/test/unit_test.hpp>
16			#include <boost/utility/binary.hpp>
17			#include "utils/model-generator.hpp"
18
19			template<typename Derived>
20		1	inline bool isFinite(const Eigen::MatrixBase<Derived> & x)
21			{
22	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.	1	return ((x - x).array() == (x - x).array()).all();
23			}
24
25		189	void test_jacobian_impl(const pinocchio::Model & model, pinocchio::JointIndex joint_id)
26			{
27			using namespace Eigen;
28			using namespace pinocchio;
29
30	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	pinocchio::Data data(model);
31
32	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	VectorXd q = pinocchio::neutral(model);
33	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeJointJacobians(model, data, q);
34
35	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Data::Matrix6x Jrh(6, model.nv);
36	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Jrh.fill(0);
37	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getJointJacobian(model, data, joint_id, WORLD, Jrh);
38
39			/* Test Jq == v /
40	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	VectorXd qdot = VectorXd::Random(model.nv);
41	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	VectorXd qddot = VectorXd::Zero(model.nv);
42	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	rnea(model, data, q, qdot, qddot);
43	1/2 ✓ Branch 3 taken 189 times. ✗ Branch 4 not taken.	189	Motion v = data.oMi[joint_id].act(data.v[joint_id]);
44	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 17 taken 189 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 189 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 189 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 189 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 189 times.	189	BOOST_CHECK(v.toVector().isApprox(Jrh * qdot, 1e-12));
45
46			/* Test local jacobian: rhJrh == rhXo oJrh */
47	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Data::Matrix6x rhJrh(6, model.nv);
48	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	rhJrh.fill(0);
49	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getJointJacobian(model, data, joint_id, LOCAL, rhJrh);
50	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Data::Matrix6x XJrh(6, model.nv);
51	2/4 ✓ Branch 2 taken 189 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 189 times. ✗ Branch 6 not taken.	189	motionSet::se3Action(data.oMi[joint_id].inverse(), Jrh, XJrh);
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53
54	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	XJrh.setZero();
55	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Data data_jointJacobian(model);
56	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeJointJacobian(model, data_jointJacobian, q, joint_id, XJrh);
57	7/14 ✓ 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 17 taken 189 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 189 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 189 times.	189	BOOST_CHECK(XJrh.isApprox(rhJrh, 1e-12));
58
59			/* Test local world-aligned jacobian */
60	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	forwardKinematics(model, data, q, qdot);
61	2/4 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 189 times. ✗ Branch 5 not taken.	189	Data::Matrix6x WJrh = Data::Matrix6x::Zero(6, model.nv);
62	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	getJointJacobian(model, data, joint_id, LOCAL_WORLD_ALIGNED, WJrh);
63	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Motion w_v = getVelocity(model, data, joint_id, LOCAL_WORLD_ALIGNED);
64	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(w_v.toVector().isApprox(WJrh * qdot));
65
66			/* Test computeJointJacobians with pre-computation of the forward kinematics */
67	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	Data data_fk(model);
68	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	forwardKinematics(model, data_fk, q);
69	1/2 ✓ Branch 1 taken 189 times. ✗ Branch 2 not taken.	189	computeJointJacobians(model, data_fk);
70
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72		189	}
73
74			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
75
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77			{
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model, false);
80
81	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (int j = 1; j < model.njoints; j++)
82			{
83	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	test_jacobian_impl(model, static_cast<pinocchio::JointIndex>(j));
84			}
85		2	}
86
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88			{
89	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
90			{
91	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
92		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
93	2/2 ✓ Branch 0 taken 162 times. ✓ Branch 1 taken 6 times.	336	for (int j = 1; j < model_mimic.njoints; j++)
94			{
95	1/2 ✓ Branch 1 taken 162 times. ✗ Branch 2 not taken.	324	test_jacobian_impl(model_mimic, static_cast<pinocchio::JointIndex>(j));
96			}
97		12	}
98		2	}
99
100	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_jacobian_time_variation)
101			{
102			using namespace Eigen;
103			using namespace pinocchio;
104
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model, true, true);
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
109			VectorXd q = randomConfiguration(
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111	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);
112	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);
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
115
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117
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
119			Model::Index idx =
120	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm2") ? model.getJointId("rarm2") : (Model::Index)(model.njoints - 1);
121
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J(6, model.nv);
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
126
127			// Regarding to the WORLD origin
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, WORLD, J);
129	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, WORLD)));
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, WORLD, dJ);
131	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);
132	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(v_idx.isApprox(data_ref.oMi[idx].act(data_ref.v[idx])));
133
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135	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	const Motion & a_ref = data_ref.oMi[idx].act(data_ref.a[idx]);
136	7/14 ✓ Branch 1 taken 1 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));
137
138			// Regarding to the LOCAL frame
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL, J);
140	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, LOCAL)));
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL, dJ);
142
143	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);
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145
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148
149			// Regarding to the LOCAL_WORLD_ALIGNED frame
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J);
151	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, LOCAL_WORLD_ALIGNED)));
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
153
154	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::SE3 worldMlocal = data.oMi[idx];
155	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	worldMlocal.translation().setZero();
156	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::Motion world_v_local = data.ov[idx];
157	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	world_v_local.linear().setZero();
158
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	v_idx = (Motion::Vector6)(J * v);
160	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(v_idx.isApprox(worldMlocal.act(data_ref.v[idx])));
161
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164			world_v_local.cross(worldMlocal.act(data_ref.v[idx])) + worldMlocal.act(data_ref.a[idx])));
165
166			// compare to finite differencies : WORLD
167			{
168	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);
169
170		2	const double alpha = 1e-8;
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
172	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);
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, WORLD, J_ref);
178
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus);
183
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref.fill(0.);
186	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 = (J_ref_plus - J_ref) / alpha;
187
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, WORLD, dJ);
192
193	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 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.isApprox(dJ_ref, sqrt(alpha)));
194		2	}
195			// compare to finite differencies : LOCAL
196			{
197	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);
198
199		2	const double alpha = 1e-8;
200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(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_plus = integrate(model, q, alpha * v);
202
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, LOCAL, J_ref);
207
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus);
212
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
214	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 = (J_ref_plus - J_ref) / alpha;
215
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL, dJ);
220
221	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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.isApprox(dJ_ref, sqrt(alpha)));
222		2	}
223
224			// compare to finite differencies : LOCAL_WORLD_ALIGNED
225			{
226	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);
227
228		2	const double alpha = 1e-8;
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
231
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref);
236
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus);
241
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
243	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 = (J_ref_plus - J_ref) / alpha;
244
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
249
250	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 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.isApprox(dJ_ref, sqrt(alpha)));
251		2	}
252		2	}
253
254	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_timings)
255			{
256			using namespace Eigen;
257			using namespace pinocchio;
258
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
262
263		2	long flag = BOOST_BINARY(1111);
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PinocchioTicToc timer(PinocchioTicToc::US);
265			#ifdef NDEBUG
266			#ifdef _INTENSE_TESTING_
267			const size_t NBT = 1000 * 1000;
268			#else
269			const size_t NBT = 10;
270			#endif
271			#else
272		2	const size_t NBT = 1;
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "(the time score in debug mode is not relevant) ";
274			#endif
275
276		2	bool verbose = flag & (flag - 1); // True is two or more binaries of the flag are 1.
277	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
278	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "--" << std::endl;
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = pinocchio::neutral(model);
280
281	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 0 & 1)
282			{
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
284	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
285			{
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
287			}
288	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Compute =\t";
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
291			}
292
293	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 1 & 1)
294			{
295	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
296			Model::Index idx =
297	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
300
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
302	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
303			{
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, WORLD, Jrh);
305			}
306	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Copy =\t";
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
309		2	}
310
311	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 2 & 1)
312			{
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
314			Model::Index idx =
315	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
318
319	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
320	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
321			{
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL, Jrh);
323			}
324	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Change frame =\t";
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
327		2	}
328
329	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 3 & 1)
330			{
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
332			Model::Index idx =
333	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
336
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
338	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
339			{
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobian(model, data, q, idx, Jrh);
341			}
342	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Single jacobian =\t";
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
345		2	}
346		2	}
347
348			BOOST_AUTO_TEST_SUITE_END()
349