GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	593	603	98.3%
Branches:	2342	4682	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2022 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/data.hpp"
6			#include "pinocchio/multibody/model.hpp"
7
8			#include "pinocchio/algorithm/check.hpp"
9			#include "pinocchio/algorithm/model.hpp"
10			#include "pinocchio/algorithm/kinematics.hpp"
11			#include "pinocchio/algorithm/frames.hpp"
12			#include "pinocchio/algorithm/joint-configuration.hpp"
13			#include "pinocchio/algorithm/geometry.hpp"
14			#include "pinocchio/algorithm/center-of-mass.hpp"
15
16			#include "pinocchio/multibody/sample-models.hpp"
17			#include "pinocchio/spatial/fwd.hpp"
18
19			#include <boost/test/unit_test.hpp>
20			#include <boost/utility/binary.hpp>
21
22			using namespace pinocchio;
23
24			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
25
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27			{
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
30
31	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Model::JointIndex idx_larm1 = model.getJointId("larm1_joint");
32	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(idx_larm1 < (Model::JointIndex)model.njoints);
33		2	Model::IndexVector & subtree = model.subtrees[idx_larm1];
34	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(subtree.size() == 6);
35
36	2/2 ✓ Branch 1 taken 28 times. ✓ Branch 2 taken 1 times.	58	for (size_t joint_id = 0; joint_id < model.joints.size(); ++joint_id)
37			{
38		56	const Model::IndexVector & children = model.children[joint_id];
39	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 28 times.	110	for (size_t i = 0; i < children.size(); ++i)
40			{
41	6/12 ✓ 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 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.parents[children[i]] == joint_id);
42			}
43			}
44
45	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 2 taken 1 times.	12	for (size_t i = 1; i < subtree.size(); ++i)
46			{
47	6/12 ✓ 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 17 taken 5 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 5 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 5 times.	10	BOOST_CHECK(model.parents[subtree[i]] == subtree[i - 1]);
48			}
49
50			// Check that i starts subtree[i]
51	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
52			{
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54			}
55
56			// Check that subtree[0] contains all joint ids
57	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
58			{
59	6/12 ✓ 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 24 not taken. ✓ Branch 25 taken 27 times.	54	BOOST_CHECK(model.subtrees[0][joint_id - 1] == joint_id);
60			}
61		2	}
62
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64			{
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
67
68	2/2 ✓ Branch 0 taken 55 times. ✓ Branch 1 taken 1 times.	112	for (FrameIndex i = 0; i < static_cast<FrameIndex>(model.nframes); i++)
69			{
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71			}
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73		2	}
74
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76			{
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
79	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Model::IndexVector support0_ref(1, 0);
80	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(model.supports[0] == support0_ref);
81
82			// Check that i ends supports[i]
83	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
84			{
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86		54	Model::IndexVector & support = model.supports[joint_id];
87
88		54	size_t current_id = support.size() - 2;
89	2/2 ✓ Branch 1 taken 111 times. ✓ Branch 2 taken 27 times.	276	for (JointIndex parent_id = model.parents[joint_id]; parent_id > 0;
90		222	parent_id = model.parents[parent_id], current_id--)
91			{
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93			}
94			}
95		2	}
96
97			/// Test mimic_joint_support by creating manually a robot and
98			/// checking the content.
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100			{
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
102			// j1 -- j2 -- j3
103			// -- j4 -- j5
104			// with j5 mimicking j3
105			// with j2 mimicking j1
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107	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	model.addJoint(
108	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	1, JointModelMimic(JointModelRX(), model.joints[1], 1., 0.), SE3::Identity(), "j2");
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111	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	model.addJoint(
112	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	4, JointModelMimic(JointModelRX(), model.joints[3], 1., 0.), SE3::Identity(), "j5");
113
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117			// Mimic joint should support itself
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119			// j3 is supported by j2
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122			// Mimic joint should support itself
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124		2	}
125
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127			{
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
130
131			// Check that i ends supports[i]
132	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id)
133			{
134		54	const Model::JointModel & jmodel = model.joints[joint_id];
135
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138
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141
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144			}
145		2	}
146
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148			{
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
151
152	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(model == model);
153		2	}
154
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156			{
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
159
160	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(model.cast<double>() == model.cast<double>());
161	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(model.cast<double>().cast<long double>() == model.cast<long double>());
162
163			typedef ModelTpl<long double> Modelld;
164
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Modelld model2(model);
166	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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(model2 == model.cast<long double>());
167		2	}
168
169	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_std_vector_of_Model)
170			{
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PINOCCHIO_ALIGNED_STD_VECTOR(Model) models;
175	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (size_t k = 0; k < 20; ++k)
176			{
177	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	models.push_back(Model());
178	1/2 ✓ Branch 2 taken 20 times. ✗ Branch 3 not taken.	40	buildModels::humanoid(models.back());
179
180	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(model == models.back());
181			}
182		2	}
183
184			#ifdef PINOCCHIO_WITH_HPP_FCL
185			struct AddPrefix
186			{
187			std::string p;
188		35	std::string operator()(const std::string & n)
189			{
190		35	return p + n;
191			}
192		84	Frame operator()(const Frame & _f)
193			{
194		84	Frame f(_f);
195	1/2 ✓ Branch 1 taken 84 times. ✗ Branch 2 not taken.	84	f.name = p + f.name;
196		84	return f;
197			}
198		2	AddPrefix(const char * _p)
199	1/2 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken.	2	: p(_p)
200			{
201		2	}
202			};
203
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205			{
206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model manipulator, humanoid;
207	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	GeometryModel geomManipulator, geomHumanoid;
208
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(manipulator, true);
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulatorGeometries(manipulator, geomManipulator);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomManipulator.addAllCollisionPairs();
212			// Add prefix to joint and frame names
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AddPrefix addManipulatorPrefix("manipulator/");
214	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
215		6	++manipulator.names.begin(), manipulator.names.end(), ++manipulator.names.begin(),
216			addManipulatorPrefix);
217	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
218		6	++manipulator.frames.begin(), manipulator.frames.end(), ++manipulator.frames.begin(),
219			addManipulatorPrefix);
220
221	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(manipulator);
222
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidGeometries(humanoid, geomHumanoid);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomHumanoid.addAllCollisionPairs();
226			// Add prefix to joint and frame names
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	AddPrefix addHumanoidPrefix("humanoid/");
228	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
229		6	++humanoid.names.begin(), humanoid.names.end(), ++humanoid.names.begin(), addHumanoidPrefix);
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	std::transform(
231		6	++humanoid.frames.begin(), humanoid.frames.end(), ++humanoid.frames.begin(), addHumanoidPrefix);
232
233	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(humanoid);
234
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType humanoid_config_vector(humanoid.nq);
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType manipulator_config_vector(manipulator.nq);
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_config_vector = randomConfiguration(humanoid);
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator_config_vector = randomConfiguration(manipulator);
239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid.referenceConfigurations.insert(std::make_pair("common_key", humanoid_config_vector));
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator.referenceConfigurations.insert(
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	std::make_pair("common_key", manipulator_config_vector));
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_config_vector = randomConfiguration(humanoid);
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator_config_vector = randomConfiguration(manipulator);
245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid.referenceConfigurations.insert(std::make_pair("humanoid_key", humanoid_config_vector));
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	manipulator.referenceConfigurations.insert(
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	std::make_pair("manipulator_key", manipulator_config_vector));
248
249			// TODO fix inertia of the base
250	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	manipulator.inertias[0].setRandom();
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 aMb = SE3::Random();
252
253			// First append a model to the universe frame.
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model1;
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel1;
256		2	FrameIndex fid = 0;
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
258	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model1, geomModel1);
259			typedef typename Model::ConfigVectorMap ConfigVectorMap;
260
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	typename Model::ConfigVectorType neutral_config_vector(model1.nq);
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral(model1, neutral_config_vector);
263
264	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(model1.referenceConfigurations.size() == 3);
265		2	for (typename ConfigVectorMap::const_iterator config_it = model1.referenceConfigurations.begin();
266	2/2 ✓ Branch 4 taken 3 times. ✓ Branch 5 taken 1 times.	8	config_it != model1.referenceConfigurations.end(); ++config_it)
267			{
268		6	const std::string & config_name = config_it->first;
269		6	const typename Model::ConfigVectorType & config_vector = config_it->second;
270
271			typename ConfigVectorMap::const_iterator humanoid_config =
272	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	humanoid.referenceConfigurations.find(config_name);
273			typename ConfigVectorMap::const_iterator manipulator_config =
274	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	manipulator.referenceConfigurations.find(config_name);
275	2/2 ✓ Branch 1 taken 105 times. ✓ Branch 2 taken 3 times.	216	for (JointIndex joint_id = 1; joint_id < model1.joints.size(); ++joint_id)
276			{
277		210	const JointModel & joint_model1 = model1.joints[joint_id];
278		210	if (
279		210	humanoid_config != humanoid.referenceConfigurations.end()
280	7/8 ✓ Branch 0 taken 70 times. ✓ Branch 1 taken 35 times. ✓ Branch 4 taken 70 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 58 times. ✓ Branch 7 taken 12 times. ✓ Branch 8 taken 58 times. ✓ Branch 9 taken 47 times.	210	&& humanoid.existJointName(model1.names[joint_id]))
281			{ // key and joint exists in humanoid
282			const JointModel & joint_model_humanoid =
283	1/2 ✓ Branch 2 taken 58 times. ✗ Branch 3 not taken.	116	humanoid.joints[humanoid.getJointId(model1.names[joint_id])];
284	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
285			joint_model_humanoid.jointConfigSelector(humanoid_config->second)
286			== joint_model1.jointConfigSelector(config_vector));
287	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
288			joint_model_humanoid.JointMappedConfigSelector(humanoid_config->second)
289			== joint_model1.JointMappedConfigSelector(config_vector));
290			// std::cerr<<"humanoid "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
291			}
292		94	else if (
293		94	manipulator_config != manipulator.referenceConfigurations.end()
294	7/8 ✓ Branch 0 taken 41 times. ✓ Branch 1 taken 6 times. ✓ Branch 4 taken 41 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 12 times. ✓ Branch 7 taken 29 times. ✓ Branch 8 taken 12 times. ✓ Branch 9 taken 35 times.	94	&& manipulator.existJointName(model1.names[joint_id]))
295			{ // key and joint exists in manipulator.
296			const JointModel & joint_model_manipulator =
297	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	24	manipulator.joints[manipulator.getJointId(model1.names[joint_id])];
298	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
299			joint_model_manipulator.jointConfigSelector(manipulator_config->second)
300			== joint_model1.jointConfigSelector(config_vector));
301	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
302			joint_model_manipulator.JointMappedConfigSelector(manipulator_config->second)
303			== joint_model1.JointMappedConfigSelector(config_vector));
304			// std::cerr<<"manipulator "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
305			}
306			else
307			{ // joint and key combo not found, should with neutral
308	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
309			joint_model1.jointConfigSelector(neutral_config_vector)
310			== joint_model1.jointConfigSelector(config_vector));
311	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
312			joint_model1.JointMappedConfigSelector(neutral_config_vector)
313			== joint_model1.JointMappedConfigSelector(config_vector));
314			// std::cerr<<"neutral "<<config_name<<" "<<model1.names[joint_id]<<std::endl;
315			}
316			}
317			}
318
319			{
320	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity());
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model3;
322	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	appendModel(humanoid, manipulator, fid, SE3::Identity(), model3);
323	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(model1 == model2);
324	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(model1 == model3);
325	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(model2 == model3);
326		2	}
327
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data1(model1);
329	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(model1.check(data1));
330
331	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(model1);
332
333			// Second, append a model to a moving frame.
334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
335
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel;
337	9/18 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken.	2	fid = humanoid.addFrame(Frame(
338			"humanoid/add_manipulator", humanoid.getJointId("humanoid/chest2_joint"),
339			humanoid.getFrameId("humanoid/chest2_joint"), aMb, OP_FRAME));
340
341			// Append manipulator to chest2_joint of humanoid
342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model, geomModel);
344
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral_config_vector.resize(model.nq);
346	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	neutral(model, neutral_config_vector);
347
348	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(model.referenceConfigurations.size() == 3);
349		2	for (typename ConfigVectorMap::const_iterator config_it = model.referenceConfigurations.begin();
350	2/2 ✓ Branch 4 taken 3 times. ✓ Branch 5 taken 1 times.	8	config_it != model.referenceConfigurations.end(); ++config_it)
351			{
352		6	const std::string & config_name = config_it->first;
353		6	const typename Model::ConfigVectorType & config_vector = config_it->second;
354
355			typename ConfigVectorMap::const_iterator humanoid_config =
356	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	humanoid.referenceConfigurations.find(config_name);
357			typename ConfigVectorMap::const_iterator manipulator_config =
358	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	manipulator.referenceConfigurations.find(config_name);
359	2/2 ✓ Branch 1 taken 105 times. ✓ Branch 2 taken 3 times.	216	for (JointIndex joint_id = 1; joint_id < model.joints.size(); ++joint_id)
360			{
361		210	const JointModel & joint_model = model.joints[joint_id];
362		210	if (
363		210	humanoid_config != humanoid.referenceConfigurations.end()
364	7/8 ✓ Branch 0 taken 70 times. ✓ Branch 1 taken 35 times. ✓ Branch 4 taken 70 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 58 times. ✓ Branch 7 taken 12 times. ✓ Branch 8 taken 58 times. ✓ Branch 9 taken 47 times.	210	&& humanoid.existJointName(model.names[joint_id]))
365			{ // key and joint exists in humanoid
366			const JointModel & joint_model_humanoid =
367	1/2 ✓ Branch 2 taken 58 times. ✗ Branch 3 not taken.	116	humanoid.joints[humanoid.getJointId(model.names[joint_id])];
368	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
369			joint_model_humanoid.jointConfigSelector(humanoid_config->second)
370			== joint_model.jointConfigSelector(config_vector));
371	9/18 ✓ Branch 1 taken 58 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 58 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 58 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 58 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 58 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 58 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 58 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 58 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 58 times.	116	BOOST_CHECK(
372			joint_model_humanoid.JointMappedConfigSelector(humanoid_config->second)
373			== joint_model.JointMappedConfigSelector(config_vector));
374			// std::cerr<<"humanoid "<<config_name<<" "<<model.names[joint_id]<<std::endl;
375			}
376		94	else if (
377		94	manipulator_config != manipulator.referenceConfigurations.end()
378	7/8 ✓ Branch 0 taken 41 times. ✓ Branch 1 taken 6 times. ✓ Branch 4 taken 41 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 12 times. ✓ Branch 7 taken 29 times. ✓ Branch 8 taken 12 times. ✓ Branch 9 taken 35 times.	94	&& manipulator.existJointName(model.names[joint_id]))
379			{ // key and joint exists in manipulator.
380			const JointModel & joint_model_manipulator =
381	1/2 ✓ Branch 2 taken 12 times. ✗ Branch 3 not taken.	24	manipulator.joints[manipulator.getJointId(model.names[joint_id])];
382	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
383			joint_model_manipulator.jointConfigSelector(manipulator_config->second)
384			== joint_model.jointConfigSelector(config_vector));
385	9/18 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 12 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 12 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 12 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 12 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 12 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 12 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 12 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 12 times.	24	BOOST_CHECK(
386			joint_model_manipulator.JointMappedConfigSelector(manipulator_config->second)
387			== joint_model.JointMappedConfigSelector(config_vector));
388			// std::cerr<<"manipulator "<<config_name<<" "<<model.names[joint_id]<<std::endl;
389			}
390			else
391			{ // joint and key combo not found, should with neutral
392	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
393			joint_model.jointConfigSelector(neutral_config_vector)
394			== joint_model.jointConfigSelector(config_vector));
395	9/18 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 35 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 35 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 35 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 35 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 35 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 35 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 35 times.	70	BOOST_CHECK(
396			joint_model.JointMappedConfigSelector(neutral_config_vector)
397			== joint_model.JointMappedConfigSelector(config_vector));
398			// std::cerr<<"neutral "<<config_name<<" "<<model.names[joint_id]<<std::endl;
399			}
400			}
401			}
402
403			{
404	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity());
405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model3;
406	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	appendModel(humanoid, manipulator, fid, SE3::Identity(), model3);
407	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(model == model2);
408	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(model == model3);
409	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(model2 == model3);
410		2	}
411
412	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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	BOOST_TEST_MESSAGE(model);
413
414	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
415	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(model.check(data));
416
417			// Check the model
418	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK_EQUAL(
419			model.getJointId("humanoid/chest2_joint"),
420			model.parents[model.getJointId("manipulator/shoulder1_joint")]);
421
422			// check the joint order and the inertias
423			// All the joints of the manipulator should be at the end of the merged model
424		2	JointIndex hnj = (JointIndex)humanoid.njoints;
425	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex chest2 = model.getJointId("humanoid/chest2_joint");
426	2/2 ✓ Branch 0 taken 29 times. ✓ Branch 1 taken 1 times.	60	for (JointIndex jid = 1; jid < hnj; ++jid)
427			{
428	8/16 ✓ Branch 2 taken 29 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 29 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 29 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 29 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 29 times. ✗ Branch 26 not taken.	58	BOOST_TEST_MESSAGE("Checking joint " << jid << " " << model.names[jid]);
429	5/10 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 29 times.	58	BOOST_CHECK_EQUAL(model.names[jid], humanoid.names[jid]);
430	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	if (jid != chest2)
431	5/10 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 28 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 28 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 28 times.	56	BOOST_CHECK_EQUAL(model.inertias[jid], humanoid.inertias[jid]);
432			else
433	13/26 ✓ 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 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 32 taken 1 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 1 times. ✗ Branch 39 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 44 taken 1 times. ✗ Branch 45 not taken. ✗ Branch 51 not taken. ✓ Branch 52 taken 1 times.	2	BOOST_CHECK_MESSAGE(
434			model.inertias[jid].isApprox(
435			manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]),
436			model.inertias[jid] << " != "
437			<< manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]);
438
439	5/10 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 29 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 29 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 29 times.	58	BOOST_CHECK_EQUAL(model.jointPlacements[jid], humanoid.jointPlacements[jid]);
440			}
441	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 2 taken 1 times.	12	for (JointIndex jid = 1; jid < manipulator.joints.size() - 1; ++jid)
442			{
443	8/16 ✓ Branch 2 taken 5 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 5 times. ✗ Branch 9 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 5 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 5 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 5 times. ✗ Branch 26 not taken.	10	BOOST_TEST_MESSAGE("Checking joint " << hnj - 1 + jid << " " << model.names[hnj + jid]);
444	5/10 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 5 times.	10	BOOST_CHECK_EQUAL(model.names[hnj - 1 + jid], manipulator.names[jid]);
445	5/10 ✓ Branch 1 taken 5 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 5 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 5 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 5 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 5 times.	10	BOOST_CHECK_EQUAL(model.inertias[hnj - 1 + jid], manipulator.inertias[jid]);
446	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 4 times.	10	if (jid == 1)
447	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(
448			model.jointPlacements[hnj - 1 + jid], aMb * manipulator.jointPlacements[jid]);
449			else
450	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 4 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 4 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 4 times.	8	BOOST_CHECK_EQUAL(model.jointPlacements[hnj - 1 + jid], manipulator.jointPlacements[jid]);
451			}
452			// Check the frames
453	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (FrameIndex fid = 1; fid < humanoid.frames.size(); ++fid)
454			{
455	1/2 ✓ Branch 3 taken 70 times. ✗ Branch 4 not taken.	140	const Frame &frame = humanoid.frames[fid], parent = humanoid.frames[frame.parentFrame];
456	7/14 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 70 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 70 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 70 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 70 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 70 times.	140	BOOST_CHECK(model.existFrame(frame.name, frame.type));
457	1/2 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken.	140	const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)],
458	1/2 ✓ Branch 2 taken 70 times. ✗ Branch 3 not taken.	140	nparent = model.frames[nframe.parentFrame];
459	5/10 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 70 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 70 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 70 times.	140	BOOST_CHECK_EQUAL(parent.name, nparent.name);
460	5/10 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 70 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 70 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 70 times.	140	BOOST_CHECK_EQUAL(frame.placement, nframe.placement);
461		140	}
462	2/2 ✓ Branch 1 taken 15 times. ✓ Branch 2 taken 1 times.	32	for (FrameIndex fid = 1; fid < manipulator.frames.size(); ++fid)
463			{
464	1/2 ✓ Branch 3 taken 15 times. ✗ Branch 4 not taken.	30	const Frame &frame = manipulator.frames[fid], parent = manipulator.frames[frame.parentFrame];
465	7/14 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 15 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 15 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 15 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 15 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 15 times.	30	BOOST_CHECK(model.existFrame(frame.name, frame.type));
466	1/2 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken.	30	const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)],
467	1/2 ✓ Branch 2 taken 15 times. ✗ Branch 3 not taken.	30	nparent = model.frames[nframe.parentFrame];
468	2/2 ✓ Branch 0 taken 14 times. ✓ Branch 1 taken 1 times.	30	if (frame.parentFrame > 0)
469			{
470	5/10 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 14 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 14 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 14 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 14 times.	28	BOOST_CHECK_EQUAL(parent.name, nparent.name);
471	5/10 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 14 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 14 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 14 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 14 times.	28	BOOST_CHECK_EQUAL(frame.placement, nframe.placement);
472			}
473		30	}
474
475			{
476	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	Inertia inertia(2., Eigen::Vector3d(0.1, 0.1, 0.1), Eigen::Matrix3d::Identity());
477	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Frame additional_frame("inertial_frame", 2, SE3::Identity(), FrameType::JOINT, inertia);
478	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid.addFrame(additional_frame);
479	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double mass_humanoid = computeTotalMass(humanoid);
480	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double mass_manipulator = computeTotalMass(manipulator);
481		2	double total_mass = mass_manipulator + mass_humanoid;
482
483	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model4;
484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel4;
485	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	humanoid, manipulator, geomHumanoid, geomManipulator, 0, SE3::Identity(), model4, geomModel4);
487	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_CLOSE(computeTotalMass(model4), total_mass, 1e-6);
488		2	}
489			{
490	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model ff_model;
491	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	auto ff_id = ff_model.addJoint(0, JointModelFreeFlyer(), SE3::Identity(), "floating_base");
492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ff_model.addJointFrame(ff_id);
493	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel ff_geom_model = GeometryModel();
494	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	FrameIndex frame_id = ff_model.getFrameId("floating_base");
495	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model4;
496	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel4;
497	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(
498	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	ff_model, manipulator, ff_geom_model, geomManipulator, frame_id, SE3::Identity(), model4,
499			geomModel4);
500	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 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(model4.inertias[1] == model4.inertias[1]);
501		2	}
502
503			{
504	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model model5, gripperModel;
505
506	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	Inertia inertia(1., SE3::Vector3(0.5, 0., 0.0), SE3::Matrix3::Identity());
507	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
508
509	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(0.1, 0., 0.);
510	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	JointIndex idx = gripperModel.addJoint(0, JointModelPX(), pos, "left_finger");
511	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	gripperModel.addJointFrame(idx);
512
513	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(-0.1, 0., 0.);
514	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	idx = gripperModel.addJoint(0, JointModelPX(), pos, "right_finger");
515	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	gripperModel.addJointFrame(idx);
516
517	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 transformManGr = SE3::Random();
518		2	FrameIndex fid = (FrameIndex)(manipulator.frames.size() - 1);
519	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendModel(manipulator, gripperModel, fid, transformManGr, model5);
520
521	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex jid5 = model5.getJointId("left_finger");
522	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex jidG = gripperModel.getJointId("left_finger");
523	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(
524			model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG]));
525
526	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	jid5 = model5.getJointId("right_finger");
527	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	jidG = gripperModel.getJointId("right_finger");
528	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(
529			model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG]));
530		2	}
531		2	}
532			#endif
533
534	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_buildReducedModel_empty)
535			{
536	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
537	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
538
539	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
540
541	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
542	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
543
544	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_model.referenceConfigurations.insert(
545	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model)));
546	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
547			Model humanoid_copy_model =
548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid);
549
550	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(humanoid_copy_model.names == humanoid_model.names);
551	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(humanoid_copy_model.joints == humanoid_model.joints);
552	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(humanoid_copy_model == humanoid_model);
553	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(
554			humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model)));
555
556		2	const std::vector<JointIndex> empty_joints_to_lock;
557
558			const Model reduced_humanoid_model =
559	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_joints_to_lock, reference_config_humanoid);
560	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(reduced_humanoid_model.njoints == humanoid_model.njoints);
561	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(reduced_humanoid_model.frames == humanoid_model.frames);
562	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(reduced_humanoid_model.jointPlacements == humanoid_model.jointPlacements);
563	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(reduced_humanoid_model.joints == humanoid_model.joints);
564
565	2/2 ✓ Branch 0 taken 29 times. ✓ Branch 1 taken 1 times.	60	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
566			{
567	7/14 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 29 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 29 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 29 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 29 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 29 times.	58	BOOST_CHECK(
568			reduced_humanoid_model.inertias[joint_id].isApprox(humanoid_model.inertias[joint_id]));
569			}
570		2	}
571
572	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_buildReducedModel)
573			{
574	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
575	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
576
577	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
578
579	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
580	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
581
582	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	humanoid_model.referenceConfigurations.insert(
583	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model)));
584	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
585			Model humanoid_copy_model =
586	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid);
587
588	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(humanoid_copy_model.names == humanoid_model.names);
589	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(humanoid_copy_model.joints == humanoid_model.joints);
590	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(humanoid_copy_model == humanoid_model);
591	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(
592			humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model)));
593
594		2	std::vector<JointIndex> joints_to_lock;
595	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint1_to_lock = "rarm_shoulder2_joint";
596	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock));
597	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint2_to_lock = "larm_shoulder2_joint";
598	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock));
599
600			Model reduced_humanoid_model =
601	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(humanoid_model, joints_to_lock, reference_config_humanoid);
602	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(
603			reduced_humanoid_model.njoints == humanoid_model.njoints - (int)joints_to_lock.size());
604
605	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(reduced_humanoid_model != humanoid_model);
606
607	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model reduced_humanoid_model_other_signature;
608	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	buildReducedModel(
609			humanoid_model, joints_to_lock, reference_config_humanoid,
610			reduced_humanoid_model_other_signature);
611	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(reduced_humanoid_model == reduced_humanoid_model_other_signature);
612
613			// Check that forward kinematics give same results
614	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(humanoid_model), reduced_data(reduced_humanoid_model);
615	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = reference_config_humanoid;
616	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reduced_q(reduced_humanoid_model.nq);
617
618	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
619			{
620			const JointIndex reference_joint_id =
621	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]);
622
623	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) =
624	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].jointConfigSelector(q);
625	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].JointMappedConfigSelector(reduced_q) =
626	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].JointMappedConfigSelector(q);
627			}
628
629	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✗ Branch 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(reduced_humanoid_model.referenceConfigurations["neutral"].isApprox(
630			neutral(reduced_humanoid_model)));
631
632	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(humanoid_model, data, q);
633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q);
634
635	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id)
636			{
637		140	const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id];
638	2/2 ✓ Branch 0 taken 30 times. ✓ Branch 1 taken 40 times.	140	switch (reduced_frame.type)
639			{
640		60	case JOINT:
641			case FIXED_JOINT: {
642			// May not be present in the original model
643	2/4 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 30 times. ✗ Branch 4 not taken.	60	if (humanoid_model.existJointName(reduced_frame.name))
644			{
645	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	60	const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name);
646	7/14 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 30 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 30 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 30 times.	60	BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id]));
647			}
648		✗	else if (humanoid_model.existFrame(reduced_frame.name))
649			{
650		✗	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
651		✗	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
652			}
653			else
654			{
655		✗	BOOST_CHECK_MESSAGE(
656			false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model");
657			}
658		60	break;
659			}
660		✗	default: {
661	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 40 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 40 times.	80	BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name));
662	1/2 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken.	80	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
663	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 40 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 40 times.	80	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
664		80	break;
665			}
666			}
667			}
668		2	}
669
670	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_aligned_vector_of_model)
671			{
672			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Model) VectorOfModels;
673
674	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorOfModels models;
675	2/2 ✓ Branch 0 taken 100 times. ✓ Branch 1 taken 1 times.	202	for (size_t k = 0; k < 100; ++k)
676			{
677	2/4 ✓ Branch 1 taken 100 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 100 times. ✗ Branch 5 not taken.	200	models.push_back(Model());
678	1/2 ✓ Branch 2 taken 100 times. ✗ Branch 3 not taken.	200	buildModels::humanoidRandom(models[k]);
679			}
680		2	}
681
682			#ifdef PINOCCHIO_WITH_HPP_FCL
683	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_buildReducedModel_with_geom)
684			{
685	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_model;
686	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
687
688	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.lowerPositionLimit.head<3>().fill(-1.);
689	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_model.upperPositionLimit.head<3>().fill(1.);
690	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model);
691
692	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel humanoid_geometry;
693	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidGeometries(humanoid_model, humanoid_geometry);
694
695	2/4 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	static const std::vector<JointIndex> empty_index_vector;
696
697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model humanoid_copy_model;
698	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel humanoid_copy_geometry;
699	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
700			humanoid_model, humanoid_geometry, empty_index_vector, reference_config_humanoid,
701			humanoid_copy_model, humanoid_copy_geometry);
702
703	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(humanoid_copy_model == humanoid_model);
704	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(humanoid_copy_geometry == humanoid_geometry);
705
706		2	std::vector<JointIndex> joints_to_lock;
707	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint1_to_lock = "rarm_shoulder2_joint";
708	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock));
709	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint2_to_lock = "larm_shoulder2_joint";
710	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock));
711
712	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model reduced_humanoid_model;
713	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel reduced_humanoid_geometry;
714	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
715			humanoid_model, humanoid_geometry, joints_to_lock, reference_config_humanoid,
716			reduced_humanoid_model, reduced_humanoid_geometry);
717
718	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(reduced_humanoid_geometry.ngeoms == humanoid_geometry.ngeoms);
719	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(reduced_humanoid_geometry.collisionPairs == humanoid_geometry.collisionPairs);
720	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 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(
721			reduced_humanoid_geometry.geometryObjects.size() == humanoid_geometry.geometryObjects.size());
722
723	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 1 times.	56	for (Index i = 0; i < humanoid_geometry.geometryObjects.size(); ++i)
724			{
725		54	const GeometryObject & go1 = humanoid_geometry.geometryObjects[i];
726		54	const GeometryObject & go2 = reduced_humanoid_geometry.geometryObjects[i];
727	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.name, go2.name);
728	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.geometry, go2.geometry);
729	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshPath, go2.meshPath);
730	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshScale, go2.meshScale);
731	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.overrideMaterial, go2.overrideMaterial);
732	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshColor, go2.meshColor);
733	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.meshTexturePath, go2.meshTexturePath);
734	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times.	54	BOOST_CHECK_EQUAL(go1.parentFrame, go2.parentFrame);
735	5/10 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 27 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 27 times.	54	BOOST_CHECK_EQUAL(
736			humanoid_model.frames[go1.parentFrame].name,
737			reduced_humanoid_model.frames[go2.parentFrame].name);
738			}
739
740	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(humanoid_model), reduced_data(reduced_humanoid_model);
741	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd q = reference_config_humanoid;
742	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd reduced_q(reduced_humanoid_model.nq);
743
744	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id)
745			{
746			const JointIndex reference_joint_id =
747	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]);
748
749	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) =
750	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].jointConfigSelector(q);
751	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	reduced_humanoid_model.joints[joint_id].JointMappedConfigSelector(reduced_q) =
752	2/4 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	108	humanoid_model.joints[reference_joint_id].JointMappedConfigSelector(q);
753			}
754
755	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(humanoid_model, data, q);
756	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q);
757
758	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id)
759			{
760		140	const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id];
761	2/2 ✓ Branch 0 taken 30 times. ✓ Branch 1 taken 40 times.	140	switch (reduced_frame.type)
762			{
763		60	case JOINT:
764			case FIXED_JOINT: {
765			// May not be present in the original model
766	2/4 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 30 times. ✗ Branch 4 not taken.	60	if (humanoid_model.existJointName(reduced_frame.name))
767			{
768	1/2 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken.	60	const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name);
769	7/14 ✓ Branch 1 taken 30 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 30 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 30 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 30 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 30 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 30 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 30 times.	60	BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id]));
770			}
771		✗	else if (humanoid_model.existFrame(reduced_frame.name))
772			{
773		✗	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
774		✗	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
775			}
776			else
777			{
778		✗	BOOST_CHECK_MESSAGE(
779			false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model");
780			}
781		60	break;
782			}
783		✗	default: {
784	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 40 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 40 times.	80	BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name));
785	1/2 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken.	80	const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name);
786	7/14 ✓ Branch 1 taken 40 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 40 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 40 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 40 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 40 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 40 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 40 times.	80	BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id]));
787		80	break;
788			}
789			}
790			}
791
792			// Test GeometryObject placements
793	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	GeometryData geom_data(humanoid_geometry), reduded_geom_data(reduced_humanoid_geometry);
794	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGeometryPlacements(humanoid_model, data, humanoid_geometry, geom_data);
795	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGeometryPlacements(
796			reduced_humanoid_model, reduced_data, reduced_humanoid_geometry, reduded_geom_data);
797
798	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 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(geom_data.oMg.size() == reduded_geom_data.oMg.size());
799	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 2 taken 1 times.	56	for (FrameIndex i = 0; i < geom_data.oMg.size(); ++i)
800			{
801	7/14 ✓ 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 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(geom_data.oMg[i].isApprox(reduded_geom_data.oMg[i]));
802			}
803
804			// Test other signature
805		4	std::vector<GeometryModel> full_geometry_models;
806	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
808	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	full_geometry_models.push_back(humanoid_geometry);
809
810		4	std::vector<GeometryModel> reduced_geometry_models;
811
812	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	Model reduced_humanoid_model_other_sig;
813	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildReducedModel(
814			humanoid_model, full_geometry_models, joints_to_lock, reference_config_humanoid,
815			reduced_humanoid_model_other_sig, reduced_geometry_models);
816
817	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(reduced_geometry_models[0] == reduced_humanoid_geometry);
818	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(reduced_geometry_models[1] == reduced_humanoid_geometry);
819	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(reduced_geometry_models[2] == reduced_humanoid_geometry);
820		2	}
821			#endif // PINOCCHIO_WITH_HPP_FCL
822
823	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_findCommonAncestor)
824			{
825	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
826	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
827
828			{
829			size_t id_ancestor1, id_ancestor2;
830	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointIndex ancestor = findCommonAncestor(model, 0, 0, id_ancestor1, id_ancestor2);
831	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(ancestor == 0);
832	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(id_ancestor1 == 0);
833	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(id_ancestor2 == 0);
834			}
835
836			{
837			size_t id_ancestor1, id_ancestor2;
838			JointIndex ancestor =
839	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, 0, (JointIndex)(model.njoints - 1), id_ancestor1, id_ancestor2);
840	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(ancestor == 0);
841	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(id_ancestor1 == 0);
842	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(id_ancestor2 == 0);
843			}
844
845			{
846			size_t id_ancestor1, id_ancestor2;
847			JointIndex ancestor =
848	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, (JointIndex)(model.njoints - 1), 0, id_ancestor1, id_ancestor2);
849	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(ancestor == 0);
850	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(id_ancestor1 == 0);
851	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(id_ancestor2 == 0);
852			}
853
854			{
855			size_t id_ancestor1, id_ancestor2;
856			JointIndex ancestor =
857	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	findCommonAncestor(model, (JointIndex)(model.njoints - 1), 1, id_ancestor1, id_ancestor2);
858	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(ancestor == 1);
859	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 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(model.supports[(JointIndex)(model.njoints - 1)][id_ancestor1] == ancestor);
860	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 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(model.supports[1][id_ancestor2] == ancestor);
861			}
862		2	}
863
864	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_has_configuration_limit)
865			{
866			using namespace Eigen;
867
868			// Test joint specific function hasConfigurationLimit
869	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelFreeFlyer test_joint_ff = JointModelFreeFlyer();
870	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_ff = test_joint_ff.hasConfigurationLimit();
871	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_ff = test_joint_ff.hasConfigurationLimitInTangent();
872	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_ff({true, true, true, false, false, false, false});
873	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_ff({true, true, true, false, false, false});
874	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(cf_limits_ff == expected_cf_limits_ff);
875	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(cf_limits_tangent_ff == expected_cf_limits_tangent_ff);
876
877	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPlanar test_joint_planar = JointModelPlanar();
878	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_planar = test_joint_planar.hasConfigurationLimit();
879	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_planar = test_joint_planar.hasConfigurationLimitInTangent();
880	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_planar({true, true, false, false});
881	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_planar({true, true, false});
882	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(cf_limits_planar == expected_cf_limits_planar);
883	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(cf_limits_tangent_planar == expected_cf_limits_tangent_planar);
884
885	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPX test_joint_p = JointModelPX();
886	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_prismatic = test_joint_p.hasConfigurationLimit();
887	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> cf_limits_tangent_prismatic = test_joint_p.hasConfigurationLimitInTangent();
888	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_prismatic({true});
889	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<bool> expected_cf_limits_tangent_prismatic({true});
890	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(cf_limits_prismatic == expected_cf_limits_prismatic);
891	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(cf_limits_tangent_prismatic == expected_cf_limits_tangent_prismatic);
892
893			// Test model.hasConfigurationLimit() function
894	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
895		2	JointIndex jointId = 0;
896
897	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, JointModelFreeFlyer(), SE3::Identity(), "Joint0");
898	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");
899	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(
900	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, JointModelRUBZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2");
901
902			std::vector<bool> expected_cf_limits_model(
903			{true, true, true, // translation of FF
904			false, false, false, false, // rotation of FF
905			true, // roational joint
906	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	false, false}); // unbounded rotational joint
907	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> model_cf_limits = model.hasConfigurationLimit();
908	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((model_cf_limits == expected_cf_limits_model));
909
910			// Test model.hasConfigurationLimitInTangent() function
911			std::vector<bool> expected_cf_limits_tangent_model(
912			{true, true, true, // translation of FF
913			false, false, false, // rotation of FF
914			true, // roational joint
915	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	false}); // unbounded rotational joint
916	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::vector<bool> model_cf_limits_tangent = model.hasConfigurationLimitInTangent();
917	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((model_cf_limits_tangent == expected_cf_limits_tangent_model));
918		2	}
919
920			/// Test transformJointIntoMimic by creating a model manually and
921			/// a model modified with transformJointIntoMimic.
922	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_transform_to_mimic)
923			{
924	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_exp;
925			// j1 -- j2 -- j3
926			// -- j4 -- j5
927			// with j5 mimicking j3
928			// with j2 mimicking j1
929	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	model_exp.addJoint(0, JointModelRX(), SE3::Identity(), "j1");
930	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	model_exp.addJoint(
931	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	1, JointModelMimic(JointModelRX(), model_exp.joints[1], 1., 0.), SE3::Identity(), "j2");
932	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	model_exp.addJoint(2, JointModelRX(), SE3::Identity(), "j3");
933	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	model_exp.addJoint(1, JointModelRX(), SE3::Identity(), "j4");
934	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	model_exp.addJoint(
935	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	4, JointModelMimic(JointModelRX(), model_exp.joints[3], 1., 0.), SE3::Identity(), "j5");
936
937			// Model transformed with transformJointIntoMimic
938	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
939	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_mimic;
940	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_mimic2;
941	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	model.addJoint(0, JointModelRX(), SE3::Identity(), "j1");
942	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	model.addJoint(1, JointModelRX(), SE3::Identity(), "j2");
943	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	model.addJoint(2, JointModelRX(), SE3::Identity(), "j3");
944	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	model.addJoint(1, JointModelRX(), SE3::Identity(), "j4");
945	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	model.addJoint(4, JointModelRX(), SE3::Identity(), "j5");
946	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	transformJointIntoMimic(model, 3, 5, 1., 0., model_mimic);
947	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	transformJointIntoMimic(model_mimic, 1, 2, 1., 0., model_mimic2);
948
949	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(model_mimic2 == model_exp);
950		2	}
951
952			/// Test buildMimicModel by creating a model manually and
953			/// a model modified with buildMimicModel
954	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_build_mimic_model)
955			{
956	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_exp;
957			// j1 -- j2 -- j3
958			// -- j4 -- j5
959			// with j5 mimicking j3
960			// with j2 mimicking j1
961	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	model_exp.addJoint(0, JointModelRX(), SE3::Identity(), "j1");
962	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	model_exp.addJoint(
963	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	1, JointModelMimic(JointModelRX(), model_exp.joints[1], 1., 0.), SE3::Identity(), "j2");
964	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	model_exp.addJoint(2, JointModelRX(), SE3::Identity(), "j3");
965	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	model_exp.addJoint(1, JointModelRX(), SE3::Identity(), "j4");
966	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	model_exp.addJoint(
967	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	4, JointModelMimic(JointModelRX(), model_exp.joints[3], 2., 1.), SE3::Identity(), "j5");
968
969			// Model transformed with buildMimicModel
970	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
971	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_mimic;
972	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	model.addJoint(0, JointModelRX(), SE3::Identity(), "j1");
973	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	model.addJoint(1, JointModelRX(), SE3::Identity(), "j2");
974	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	model.addJoint(2, JointModelRX(), SE3::Identity(), "j3");
975	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	model.addJoint(1, JointModelRX(), SE3::Identity(), "j4");
976	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	model.addJoint(4, JointModelRX(), SE3::Identity(), "j5");
977	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken.	2	buildMimicModel(model, {1, 3}, {2, 5}, {1., 2.}, {0., 1.}, model_mimic);
978
979	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(model_mimic == model_exp);
980		2	}
981
982	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_cast_mimic)
983			{
984	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model humanoid_model, humanoid_mimic;
985	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(humanoid_model);
986	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(humanoid_model);
987	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(humanoid_model.check(data));
988
989	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex index_p = humanoid_model.getJointId("rleg_shoulder3_joint");
990	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex index_s = humanoid_model.getJointId("lleg_shoulder3_joint");
991
992	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	transformJointIntoMimic(humanoid_model, index_p, index_s, 2.0, 0.4, humanoid_mimic);
993	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	data = Data(humanoid_mimic);
994	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(humanoid_mimic.check(data));
995
996	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	humanoid_mimic = humanoid_mimic.cast<double>();
997	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	data = Data(humanoid_mimic);
998	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(humanoid_mimic.check(data));
999	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	index_s = humanoid_mimic.getJointId("lleg_shoulder3_joint");
1000	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(humanoid_mimic.idx_qs[index_s], humanoid_mimic.joints[index_s].idx_q());
1001	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(humanoid_mimic.idx_vs[index_s], humanoid_mimic.joints[index_s].idx_v());
1002
1003	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ModelTpl<float> humanoid_mimic_f = humanoid_mimic.cast<float>();
1004	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	DataTpl<float> data_f(humanoid_mimic_f);
1005	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(humanoid_mimic_f.check(data_f));
1006	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	index_s = humanoid_mimic_f.getJointId("lleg_shoulder3_joint");
1007	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(humanoid_mimic_f.idx_qs[index_s], humanoid_mimic_f.joints[index_s].idx_q());
1008	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK_EQUAL(humanoid_mimic_f.idx_vs[index_s], humanoid_mimic_f.joints[index_s].idx_v());
1009		2	}
1010
1011	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_build_reduced_model_mimic)
1012			{
1013			typedef Model::JointCollection JC;
1014			typedef Model::JointIndex JointIndex;
1015			typedef JC::JointModelRX JointModelRX;
1016			typedef JC::JointModelRUBX JointModelRUBX;
1017	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
1018
1019	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	JointIndex ffidx = model.addJoint(0, JC::JointModelFreeFlyer(), SE3::Identity(), "root_joint");
1020	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(ffidx);
1021	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	JointIndex idx = model.addJoint(ffidx, JointModelRX(), SE3::Identity(), "joint1");
1022	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
1023	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	idx = model.addJoint(idx, JointModelRUBX(), SE3::Identity(), "joint2");
1024	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
1025	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	idx = model.addJoint(idx, JointModelRX(), SE3::Identity(), "joint3");
1026	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
1027
1028			auto const mimic = JointModelMimic(
1029	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 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.	4	boost::get<JointModelRX>(model.joints[model.getJointId("joint3")].toVariant()), 1., 0.);
1030	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	idx = model.addJoint(idx, mimic, SE3::Identity(), "joint4");
1031	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
1032
1033			// We lock a 2 DoF joint that is before the mimicked joint.
1034	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	4	const std::vector<JointIndex> joints_to_lock = {model.getJointId("joint2")};
1035	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model reduced_model;
1036	10/34 ✓ 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 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 43 not taken. ✗ Branch 44 not taken. ✗ Branch 47 not taken. ✗ Branch 48 not taken. ✗ Branch 52 not taken. ✗ Branch 53 not taken. ✗ Branch 55 not taken. ✗ Branch 56 not taken. ✗ Branch 58 not taken. ✗ Branch 59 not taken. ✗ Branch 63 not taken. ✗ Branch 64 not taken. ✗ Branch 66 not taken. ✗ Branch 67 not taken.	2	BOOST_CHECK_NO_THROW(buildReducedModel(model, joints_to_lock, neutral(model), reduced_model));
1037		2	}
1038
1039	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_mimicked_mimicking_vectors)
1040			{
1041	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model man_model, man_mimic;
1042	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::manipulator(man_model);
1043
1044			// No mimic in model, so vectors should be empty
1045	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(man_model.mimicked_joints.size() == 0);
1046	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(man_model.mimicking_joints.size() == 0);
1047
1048	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken.	2	buildMimicModel(man_model, {1, 3}, {2, 5}, {1., 2.}, {0., 1.}, man_mimic);
1049
1050			// Vectors should be of size 2
1051	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(man_mimic.mimicked_joints.size() == 2);
1052	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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(man_mimic.mimicking_joints.size() == 2);
1053	2/2 ✓ Branch 1 taken 1 times. ✓ Branch 2 taken 1 times.	4	for (size_t i = 1; i < man_mimic.mimicked_joints.size(); i++)
1054			{
1055	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 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(man_mimic.mimicked_joints[i - 1] < man_mimic.mimicked_joints[i]);
1056	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 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(man_mimic.mimicking_joints[i - 1] < man_mimic.mimicking_joints[i]);
1057			}
1058		2	}
1059
1060			BOOST_AUTO_TEST_SUITE_END()
1061