GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	201	201	100.0%
Branches:	882	1738	50.7%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018-2019 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8			#include "pinocchio/algorithm/crba.hpp"
9			#include "pinocchio/algorithm/joint-configuration.hpp"
10			#include "pinocchio/multibody/sample-models.hpp"
11
12			#include <iostream>
13
14			#include <boost/test/unit_test.hpp>
15			#include <boost/utility/binary.hpp>
16
17			#include "utils/model-generator.hpp"
18
19			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
20
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22			{
23			using namespace Eigen;
24			using namespace pinocchio;
25
26	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
28
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
30
31	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
32	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
34
35	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	forwardKinematics(model, data, Model::ConfigVectorType::Ones(model.nq));
36		2	}
37
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39			{
40			using namespace Eigen;
41			using namespace pinocchio;
42
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
45
46	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
47
48	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
49	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
51
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGlobalPlacements(model, data);
55
56	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
57			{
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60			}
61		2	}
62
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64			{
65			using namespace Eigen;
66			using namespace pinocchio;
67
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
70
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
72
73	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
74	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
76	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Zero(model.nv));
77
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
79
80	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
81			{
82	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(data.v[i] == Motion::Zero());
83			}
84		2	}
85
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87			{
88			using namespace Eigen;
89			using namespace pinocchio;
90
91	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
94
95	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
96	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
97	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	forwardKinematics(model, data, randomConfiguration(model));
98
99			const std::vector<JointIndex> test_joints{
100	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.	6	0, 1, model.getJointId("rleg_elbow_joint"), model.getJointId("lleg_elbow_joint"),
101	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	8	(JointIndex)(model.njoints - 1)};
102
103	2/2 ✓ Branch 5 taken 5 times. ✓ Branch 6 taken 1 times.	12	for (const JointIndex i : test_joints)
104			{
105	2/2 ✓ Branch 5 taken 25 times. ✓ Branch 6 taken 5 times.	60	for (const JointIndex j : test_joints)
106			{
107	1/2 ✓ Branch 1 taken 25 times. ✗ Branch 2 not taken.	50	SE3 placement_world = getRelativePlacement(model, data, i, j, Convention::WORLD);
108	1/2 ✓ Branch 1 taken 25 times. ✗ Branch 2 not taken.	50	SE3 placement_local = getRelativePlacement(model, data, i, j, Convention::LOCAL);
109
110			// Both convention should match
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112
113			// Relative placement to itself is identity
114	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 20 times.	50	if (i == j)
115			{
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118			}
119
120			// Relative placement to world
121	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 20 times.	50	if (i == 0)
122			{
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125			}
126
127			// Relative placement from world
128	2/2 ✓ Branch 0 taken 5 times. ✓ Branch 1 taken 20 times.	50	if (j == 0)
129			{
130	8/16 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 5 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 5 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 5 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 5 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 5 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 5 times.	10	BOOST_CHECK(placement_world.isApprox(data.oMi[i].inverse()));
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132			}
133			}
134			}
135		2	}
136
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138			{
139			using namespace Eigen;
140			using namespace pinocchio;
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
144
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
146
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
148	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Zero(model.nv));
151	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Zero(model.nv));
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
154
155	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
156			{
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159			}
160		2	}
161
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163			{
164			using namespace Eigen;
165			using namespace pinocchio;
166
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
169
170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
171
172	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
175	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));
176
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
178
179	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
180			{
181	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.v[i].isApprox(getVelocity(model, data, i)));
182	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.v[i].isApprox(getVelocity(model, data, i, LOCAL)));
183	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 27 times.	54	BOOST_CHECK(data.oMi[i].act(data.v[i]).isApprox(getVelocity(model, data, i, WORLD)));
184	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 27 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 27 times. ✗ Branch 39 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 27 times.	54	BOOST_CHECK(SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero())
185			.act(data.v[i])
186			.isApprox(getVelocity(model, data, i, LOCAL_WORLD_ALIGNED)));
187			}
188		2	}
189
190	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_acceleration)
191			{
192			using namespace Eigen;
193			using namespace pinocchio;
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
197
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	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	model.lowerPositionLimit.head<3>().fill(-1.);
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
203	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));
204	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));
205
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
207
208	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
209			{
210	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i)));
211	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i, LOCAL)));
212	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 27 times.	54	BOOST_CHECK(data.oMi[i].act(data.a[i]).isApprox(getAcceleration(model, data, i, WORLD)));
213	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 27 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 27 times. ✗ Branch 39 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 27 times.	54	BOOST_CHECK(SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero())
214			.act(data.a[i])
215			.isApprox(getAcceleration(model, data, i, LOCAL_WORLD_ALIGNED)));
216			}
217		2	}
218
219	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_classical_acceleration)
220			{
221			using namespace Eigen;
222			using namespace pinocchio;
223
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
226
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
228
229	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
232	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));
233	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));
234
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
236
237	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
238			{
239	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	SE3 T = data.oMi[i];
240	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	Motion vel = data.v[i];
241	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	Motion acc = data.a[i];
242	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Vector3d linear;
243
244	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion acc_classical_local = acc;
245	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc.linear() + vel.angular().cross(vel.linear());
246	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_local.linear() = linear;
247
248	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i)));
249	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i, LOCAL)));
250
251	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion vel_world = T.act(vel);
252	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion acc_classical_world = T.act(acc);
253	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc_classical_world.linear() + vel_world.angular().cross(vel_world.linear());
254	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_world.linear() = linear;
255
256	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_world.isApprox(getClassicalAcceleration(model, data, i, WORLD)));
257
258	4/8 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	Motion vel_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(vel);
259	4/8 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	Motion acc_classical_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(acc);
260	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc_classical_aligned.linear() + vel_aligned.angular().cross(vel_aligned.linear());
261	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_aligned.linear() = linear;
262
263	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_aligned.isApprox(
264			getClassicalAcceleration(model, data, i, LOCAL_WORLD_ALIGNED)));
265			}
266		2	}
267
268	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_kinematic_getters)
269			{
270			using namespace Eigen;
271			using namespace pinocchio;
272
273			// Build a simple 2R planar model
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
275		2	JointIndex jointId = 0;
276	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	jointId = model.addJoint(jointId, JointModelRZ(), SE3::Identity(), "Joint1");
277	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	6	jointId = model.addJoint(
278	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.	4	jointId, JointModelRZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2");
279
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
281
282			// Predetermined configuration values
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q(model.nq);
284	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q << M_PI / 2.0, 0.0;
285
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v(model.nv);
287	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v << 1.0, 0.0;
288
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a(model.nv);
290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	a << 0.0, 0.0;
291
292			// Expected velocity
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_local;
294	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);
295	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);
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_world;
298	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();
299	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);
300
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_align;
302	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);
303	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);
304
305			// Expected classical acceleration
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_local;
307	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);
308	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();
309
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_world = Motion::Zero();
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_align;
313	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);
314	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();
315
316			// Perform kinematics
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
318
319			// Check output velocity
320	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(getVelocity(model, data, jointId)));
321	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(getVelocity(model, data, jointId, LOCAL)));
322	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(getVelocity(model, data, jointId, WORLD)));
323	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(getVelocity(model, data, jointId, LOCAL_WORLD_ALIGNED)));
324
325			// Check output acceleration (all zero)
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329	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(getAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED).isZero());
330
331			// Check output classical
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336			ac_align.isApprox(getClassicalAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED)));
337		2	}
338
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340			{
341	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
342			{
343	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
344		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
345		12	const pinocchio::Model & model_full = mimic_test_case.model_full;
346		12	const Eigen::MatrixXd & G = mimic_test_case.G;
347
348	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q = pinocchio::randomConfiguration(model_mimic);
349	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v = Eigen::VectorXd::Random(model_mimic.nv);
350	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a = Eigen::VectorXd::Random(model_mimic.nv);
351
352	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q_full(model_full.nq);
353	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v_full = G * v;
354	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a_full = G * v;
355
356	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	mimic_test_case.toFull(q, q_full);
357
358	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data dataFKFull(model_full);
359	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::forwardKinematics(model_full, dataFKFull, q_full, v_full, a_full);
360
361	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data dataFKRed(model_mimic);
362	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::forwardKinematics(model_mimic, dataFKRed, q, v, a);
363
364	2/2 ✓ Branch 0 taken 168 times. ✓ Branch 1 taken 6 times.	348	for (int i = 0; i < model_full.njoints; i++)
365			{
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369			}
370		12	}
371		2	}
372
373			BOOST_AUTO_TEST_SUITE_END()
374