GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	139	139	100.0%
Branches:	475	950	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 INRIA
3			//
4
5			#include "pinocchio/multibody/joint/joint-generic.hpp"
6			#include "pinocchio/multibody/liegroup/liegroup.hpp"
7
8			#include <boost/test/unit_test.hpp>
9			#include <boost/utility/binary.hpp>
10
11			using namespace pinocchio;
12
13			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
14
15			typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6x;
16
17			template<typename JointModel>
18		16	void test_constraint_mimic(const JointModelBase<JointModel> & jmodel)
19			{
20			typedef typename traits<JointModel>::JointDerived Joint;
21			typedef typename traits<Joint>::Constraint_t ConstraintType;
22			typedef typename traits<Joint>::JointDataDerived JointData;
23			typedef ScaledJointMotionSubspaceTpl<double, 0, JointModel::NVExtended> ScaledConstraint;
24			typedef JointMotionSubspaceTpl<Eigen::Dynamic, double, 0> ConstraintRef;
25
26	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	JointData jdata = jmodel.createData();
27
28		16	const double scaling_factor = 2.;
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30	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	ScaledConstraint scaled_constraint(constraint_ref_shared, scaling_factor);
31
32	8/16 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 8 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 8 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 8 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 8 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 8 times.	16	BOOST_CHECK(constraint_ref.nv() == scaled_constraint.nv());
33
34			typedef typename JointModel::TangentVector_t TangentVector_t;
35	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	TangentVector_t v = TangentVector_t::Random();
36
37	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Motion m = scaled_constraint * v;
38	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	Motion m_ref = scaling_factor * (Motion)(constraint_ref * v);
39
40	7/14 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 8 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 8 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 8 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 8 times.	16	BOOST_CHECK(m.isApprox(m_ref));
41
42			{
43	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	SE3 M = SE3::Random();
44	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	typename ScaledConstraint::DenseBase S = M.act(scaled_constraint);
45	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	typename ScaledConstraint::DenseBase S_ref = scaling_factor * M.act(constraint_ref);
46
47	7/14 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 8 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 8 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 8 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 8 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 8 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 8 times.	16	BOOST_CHECK(S.isApprox(S_ref));
48			}
49
50			{
51	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	typename ScaledConstraint::DenseBase S = scaled_constraint.matrix();
52	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	typename ScaledConstraint::DenseBase S_ref = scaling_factor * constraint_ref.matrix();
53
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55			}
56
57			{
58	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Motion v = Motion::Random();
59	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	typename ScaledConstraint::DenseBase S = v.cross(scaled_constraint);
60	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	typename ScaledConstraint::DenseBase S_ref = scaling_factor * v.cross(constraint_ref);
61
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63			}
64
65			// Test transpose operations
66			{
67		16	const Eigen::DenseIndex dim = ScaledConstraint::MaxDim;
68	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	const Matrix6x Fin = Matrix6x::Random(6, dim);
69	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Eigen::MatrixXd Fout = scaled_constraint.transpose() * Fin;
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72
73	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Force force_in(Force::Random());
74	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Eigen::MatrixXd Stf = (scaled_constraint.transpose() * force_in);
75	4/8 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 8 times. ✗ Branch 11 not taken.	16	Eigen::MatrixXd Stf_ref = scaling_factor * (constraint_ref.transpose() * force_in);
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77		16	}
78
79			// CRBA Y*S
80			{
81	1/2 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken.	16	Inertia Y = Inertia::Random();
82	2/4 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken.	16	Eigen::MatrixXd YS = Y * scaled_constraint;
83	3/6 ✓ Branch 1 taken 8 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 8 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 8 times. ✗ Branch 8 not taken.	16	Eigen::MatrixXd YS_ref = scaling_factor * (Y * constraint_ref);
84
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86		16	}
87		16	}
88
89			struct TestJointConstraint
90			{
91
92			template<typename JointModel>
93		12	void operator()(const JointModelBase<JointModel> &) const
94			{
95	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	JointModel jmodel;
96	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	jmodel.setIndexes(1, 0, 0, 0);
97
98	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	test_constraint_mimic(jmodel);
99		12	}
100
101		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
102			{
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(1, 0, 0, 0);
105
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_constraint_mimic(jmodel);
107		1	}
108
109		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
110			{
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(1, 0, 0, 0);
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_constraint_mimic(jmodel);
115		1	}
116			};
117
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119			{
120			using namespace pinocchio;
121			typedef boost::variant<
122			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX,
123			JointModelPY, JointModelPZ, JointModelPrismaticUnaligned>
124			Variant;
125
126		2	boost::mpl::for_each<Variant::types>(TestJointConstraint());
127		2	}
128
129			template<typename JointModel, typename MimicConfigurationTransform, bool MimicIdentity>
130		22	void test_joint_mimic(const JointModelBase<JointModel> & jmodel)
131			{
132			typedef typename traits<JointModel>::JointDerived Joint;
133			typedef typename traits<Joint>::JointDataDerived JointData;
134
135	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	JointData jdata = jmodel.createData();
136
137		22	const double scaling_factor = MimicIdentity ? 1. : 2.5;
138		22	const double offset = MimicIdentity ? 0 : 0.75;
139
140			// test constructor
141	1/2 ✓ Branch 2 taken 11 times. ✗ Branch 3 not taken.	22	JointModelMimic jmodel_mimic(jmodel.derived(), scaling_factor, offset);
142	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	JointDataMimic jdata_mimic = jmodel_mimic.createData();
143
144			// Non-const ref accessors trigger asserts, usefull const ref to call const ref accessors...
145		22	const JointDataMimic & jdata_mimic_const_ref{jdata_mimic};
146
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149
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152
153			typedef typename JointModel::ConfigVector_t ConfigVectorType;
154			typedef typename LieGroup<JointModel>::type LieGroupType;
155	4/8 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken.	22	ConfigVectorType q0 =
156	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones());
157	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	ConfigVectorType q0_mimic;
158	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	MimicConfigurationTransform::run(q0, scaling_factor, offset, q0_mimic);
159
160	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel.calc(jdata, q0_mimic);
161	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel_mimic.calc(jdata_mimic, q0);
162
163	9/18 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 11 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 11 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 11 times.	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
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165
166			typedef typename JointModel::TangentVector_t TangentVectorType;
167
168	5/10 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 11 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 11 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 11 times. ✗ Branch 14 not taken.	22	q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones());
169	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	MimicConfigurationTransform::run(q0, scaling_factor, offset, q0_mimic);
170	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	TangentVectorType v0 = TangentVectorType::Random();
171	2/4 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 11 times. ✗ Branch 5 not taken.	22	TangentVectorType v0_mimic = v0 * scaling_factor;
172	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel.calc(jdata, q0_mimic, v0_mimic);
173	1/2 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken.	22	jmodel_mimic.calc(jdata_mimic, q0, v0);
174
175	9/18 ✓ Branch 1 taken 11 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 11 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 11 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 11 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 11 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 11 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 11 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 11 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 11 times.	22	BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M()));
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178		22	}
179
180			template<typename MimicConfigurationTransform, bool MimicIdentity>
181			struct TestJointMimic
182			{
183
184			template<typename JointModel>
185		18	void operator()(const JointModelBase<JointModel> &) const
186			{
187	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	JointModel jmodel;
188	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	jmodel.setIndexes(1, 0, 0, 0);
189
190	1/2 ✓ Branch 1 taken 9 times. ✗ Branch 2 not taken.	18	test_joint_mimic<JointModel, MimicConfigurationTransform, MimicIdentity>(jmodel);
191		18	}
192
193		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
194			{
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(1, 0, 0, 0);
197
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_mimic<JointModelRevoluteUnaligned, MimicConfigurationTransform, MimicIdentity>(
199			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(1, 0, 0, 0);
206
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_mimic<JointModelPrismaticUnaligned, MimicConfigurationTransform, MimicIdentity>(
208			jmodel);
209		1	}
210			};
211
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213			{
214			using namespace pinocchio;
215			typedef boost::variant<
216			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX,
217			JointModelPY, JointModelPZ, JointModelPrismaticUnaligned>
218			VariantLinear;
219
220			typedef boost::variant<JointModelRUBX, JointModelRUBY, JointModelRUBZ> VariantUnboundedRevolute;
221
222			// Test specific transforms for non trivial affine values
223		2	boost::mpl::for_each<VariantLinear::types>(TestJointMimic<LinearAffineTransform, false>());
224		2	boost::mpl::for_each<VariantUnboundedRevolute::types>(
225			TestJointMimic<UnboundedRevoluteAffineTransform, false>());
226		2	}
227
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229			{
230			typedef JointModelRX::ConfigVector_t ConfigVectorType;
231		2	double scaling = 1., offset = 0.;
232
233	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ConfigVectorType q0 = ConfigVectorType::Random();
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVectorType q1;
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	LinearAffineTransform::run(q0, scaling, offset, q1);
236	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(q0 == q1);
237
238		2	scaling = 2.5;
239		2	offset = 1.5;
240	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	LinearAffineTransform::run(ConfigVectorType::Zero(), scaling, offset, q1);
241	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 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(q1 == ConfigVectorType::Constant(offset));
242
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244	11/22 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK((scaling * q0 + ConfigVectorType::Ones() * offset) == q1);
245		2	}
246
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248			{
249			typedef JointModelRUBX::ConfigVector_t ConfigVectorType;
250		2	double scaling = 1., offset = 0.;
251
252	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	ConfigVectorType q0 = ConfigVectorType::Random().normalized();
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConfigVectorType q1;
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	UnboundedRevoluteAffineTransform::run(q0, scaling, offset, q1);
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256
257		2	scaling = 2.5;
258		2	offset = 1.5;
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	UnboundedRevoluteAffineTransform::run(q0, scaling, offset, q1);
260	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const double theta = atan2(q0[1], q0[0]);
261	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(
262			q1
263			== ConfigVectorType(math::cos(theta * scaling + offset), math::sin(theta * scaling + offset)));
264		2	}
265
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267			{
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelRX jmodel_ref;
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_ref.setIndexes(1, 2, 3, 3);
270
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelMimic jmodel(jmodel_ref, 2., 1.);
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel.setIndexes(2, -1, -1, 3);
273
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276
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModel jmodel_generic(jmodel);
278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_generic.setIndexes(2, -2, -2, 3);
279
280	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 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(jmodel_generic.id() == jmodel.id());
281		2	}
282			BOOST_AUTO_TEST_SUITE_END()
283