GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	231	231	100.0%
Branches:	717	1424	50.4%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			//
4
5			/*
6			* Unittest of the RNE algorithm. The code simply test that the algorithm does
7			* not cause any serious errors. The numerical values are not cross validated
8			* in any way.
9			*
10			*/
11
12			#include "pinocchio/multibody/model.hpp"
13			#include "pinocchio/multibody/data.hpp"
14			#include "pinocchio/algorithm/model.hpp"
15			#include "pinocchio/spatial/fwd.hpp"
16			#include "pinocchio/algorithm/rnea.hpp"
17			#include "pinocchio/algorithm/jacobian.hpp"
18			#include "pinocchio/algorithm/center-of-mass.hpp"
19			#include "pinocchio/algorithm/joint-configuration.hpp"
20			#include "pinocchio/algorithm/crba.hpp"
21			#include "pinocchio/algorithm/centroidal.hpp"
22			#include "pinocchio/multibody/sample-models.hpp"
23			#include "pinocchio/utils/timer.hpp"
24
25			#include <iostream>
26
27			// #define __SSE3__
28			#include <fenv.h>
29
30			#ifdef __SSE3__
31			#include <pmmintrin.h>
32			#endif
33
34			#include <boost/test/unit_test.hpp>
35			#include <boost/utility/binary.hpp>
36
37			#include "utils/model-generator.hpp"
38
39			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
40
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42			{
43			#ifdef __SSE3__
44			_MM_SET_DENORMALS_ZERO_MODE(_MM_DENORMALS_ZERO_ON);
45			#endif
46			using namespace Eigen;
47			using namespace pinocchio;
48
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
51
52	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
53	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
56	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	data.v[0] = Motion::Zero();
57	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	data.a[0] = -model.gravity;
58
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
60	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Random(model.nv);
61	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Random(model.nv);
62
63			#ifdef NDEBUG
64			const size_t NBT = 10000;
65			#else
66		2	const size_t NBT = 1;
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "(the time score in debug mode is not relevant) ";
68			#endif
69
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PinocchioTicToc timer(PinocchioTicToc::US);
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
72	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
73			{
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
75			}
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
77		2	}
78
79	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_nle_vs_rnea)
80			{
81			using namespace Eigen;
82			using namespace pinocchio;
83
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
86
87	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
88	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
89
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_nle(model);
91	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_rnea(model);
92
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
94	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Random(model.nv);
95
96	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau_nle(VectorXd::Zero(model.nv));
97	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau_rnea(VectorXd::Zero(model.nv));
98
99			// -------
100	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.tail(model.nq - 7).setZero();
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setZero();
102
103	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau_nle = nonLinearEffects(model, data_nle, q, v);
104	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv));
105
106	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(tau_nle.isApprox(tau_rnea, 1e-12));
107
108			// -------
109	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.tail(model.nq - 7).setZero();
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setOnes();
111
112	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau_nle = nonLinearEffects(model, data_nle, q, v);
113	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv));
114
115	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(tau_nle.isApprox(tau_rnea, 1e-12));
116
117			// -------
118	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.tail(model.nq - 7).setOnes();
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setOnes();
120
121	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau_nle = nonLinearEffects(model, data_nle, q, v);
122	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv));
123
124	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(tau_nle.isApprox(tau_rnea, 1e-12));
125
126			// -------
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q = randomConfiguration(model);
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom();
129
130	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau_nle = nonLinearEffects(model, data_nle, q, v);
131	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv));
132
133	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(tau_nle.isApprox(tau_rnea, 1e-12));
134		2	}
135
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137			{
138			using namespace Eigen;
139			using namespace pinocchio;
140
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
143
144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
145	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
146
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_rnea_fext(model);
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_rnea(model);
149
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
151
152	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
154
155	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Zero());
156
157	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex rf = model.getJointId("rleg6_joint");
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force Frf = Force::Random();
159	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	fext[rf] = Frf;
160	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	JointIndex lf = model.getJointId("lleg6_joint");
161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force Flf = Force::Random();
162	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	fext[lf] = Flf;
163
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_rnea, q, v, a);
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_ref(data_rnea.tau);
166	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x Jrf(Data::Matrix6x::Zero(6, model.nv));
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobian(model, data_rnea, q, rf, Jrf);
168	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	tau_ref -= Jrf.transpose() * Frf.toVector();
169
170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x Jlf(Data::Matrix6x::Zero(6, model.nv));
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobian(model, data_rnea, q, lf, Jlf);
172	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	tau_ref -= Jlf.transpose() * Flf.toVector();
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_rnea_fext, q, v, a, fext);
175
176	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(tau_ref.isApprox(data_rnea_fext.tau));
177		2	}
178
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180			{
181			using namespace Eigen;
182			using namespace pinocchio;
183
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
186	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	model.armature = VectorXd::Random(model.nv) + VectorXd::Ones(model.nv);
187
188	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
189	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
190
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_ref(model);
193
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
195	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
196	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
197
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<StrictlyLower>() =
200	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<StrictlyLower>();
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const VectorXd nle = nonLinearEffects(model, data_ref, q, v);
202
203	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const VectorXd tau_ref = data_ref.M * a + nle;
204
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
206	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(tau_ref.isApprox(data.tau));
207		2	}
208
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210			{
211			using namespace Eigen;
212			using namespace pinocchio;
213
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
216
217	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
218	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
219
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_rnea(model);
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
222
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
224
225	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	rnea(model, data_rnea, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv));
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeGeneralizedGravity(model, data, q);
227
228	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(data_rnea.tau.isApprox(data.g));
229
230			// Compare with Jcom
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_rnea, q, Convention::WORLD);
232	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix3x Jcom = getJacobianComFromCrba(model, data_rnea);
233
234	4/8 ✓ 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.	2	VectorXd g_ref(-data_rnea.mass[0] * Jcom.transpose() * Model::gravity981);
235
236	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(g_ref.isApprox(data.g));
237		2	}
238
239	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_compute_static_torque)
240			{
241			using namespace Eigen;
242			using namespace pinocchio;
243
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
246
247	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
248	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
249
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_rnea(model);
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
252
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
254
255			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
256	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ForceVector fext((size_t)model.njoints);
257	2/2 ✓ Branch 4 taken 28 times. ✓ Branch 5 taken 1 times.	58	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
258	1/2 ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken.	56	(*it).setRandom();
259
260	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	rnea(model, data_rnea, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv), fext);
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeStaticTorque(model, data, q, fext);
262
263	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(data_rnea.tau.isApprox(data.tau));
264
265			// Compare with Jcom + Jacobian of joint
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_rnea, q, Convention::WORLD);
267	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix3x Jcom = getJacobianComFromCrba(model, data_rnea);
268
269	4/8 ✓ 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.	2	VectorXd static_torque_ref = -data_rnea.mass[0] * Jcom.transpose() * Model::gravity981;
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_rnea, q);
271
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_local(6, model.nv);
273	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)
274			{
275	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	J_local.setZero();
276	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	getJointJacobian(model, data_rnea, joint_id, LOCAL, J_local);
277	4/8 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	static_torque_ref -= J_local.transpose() * fext[joint_id].toVector();
278			}
279
280	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(static_torque_ref.isApprox(data.tau));
281		2	}
282
283	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_compute_coriolis)
284			{
285			using namespace Eigen;
286			using namespace pinocchio;
287
288		2	const double prec = Eigen::NumTraits<double>::dummy_precision();
289
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model, true);
292
293	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
294	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
295
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_ref(model);
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
298
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
300
301	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
302	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	computeCoriolisMatrix(model, data, q, Eigen::VectorXd::Zero(model.nv));
303	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(data.C.isZero(prec));
304
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
306	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rnea(model, data_ref, q, v, VectorXd::Zero(model.nv));
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data_ref, q, v);
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCoriolisMatrix(model, data, q, v);
309
310	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(data.dJ.isApprox(data_ref.dJ));
311	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(data.J.isApprox(data_ref.J));
312
313	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau = data.C * v;
314	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(tau.isApprox(data_ref.tau, prec));
315
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data_ref, q, v);
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
318
319		2	const Data::Vector3 & com = data_ref.com[0];
320	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Motion vcom(data_ref.vcom[0], Data::Vector3::Zero());
321	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 cM1(data.oMi[1]);
322	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	cM1.translation() -= com;
323
324	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 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK((cM1.toDualActionMatrix() * data_ref.M.topRows<6>()).isApprox(data_ref.Ag, prec));
325
326	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Force dh_ref = cM1.act(Force(data_ref.tau.head<6>()));
327	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Force dh(data_ref.dAg * v);
328	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(dh.isApprox(dh_ref, prec));
329
330			{
331	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
332	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Eigen::MatrixXd dM(data.C + data.C.transpose());
333
334		2	const double alpha = 1e-8;
335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
336	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
337
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
340	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
341	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref_plus, q_plus, Convention::WORLD);
342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref_plus.M.triangularView<Eigen::StrictlyLower>() =
343	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref_plus.M.transpose().triangularView<Eigen::StrictlyLower>();
344
345	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Eigen::MatrixXd dM_ref = (data_ref_plus.M - data_ref.M) / alpha;
346	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(dM.isApprox(dM_ref, sqrt(alpha)));
347		2	}
348		2	}
349
350	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_rnea_mimic)
351			{
352	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < pinocchio::MimicTestCases::N_CASES; i++)
353			{
354	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	const pinocchio::MimicTestCases mimic_test_case(i);
355		12	const pinocchio::Model & model_mimic = mimic_test_case.model_mimic;
356		12	const pinocchio::Model & model_full = mimic_test_case.model_full;
357		12	const Eigen::MatrixXd & G = mimic_test_case.G;
358
359	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_nle_mimic(model_mimic);
360	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_rnea_mimic(model_mimic);
361	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_full(model_full);
362
363	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q = pinocchio::randomConfiguration(model_mimic);
364	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v = Eigen::VectorXd::Random(model_mimic.nv);
365	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a = Eigen::VectorXd::Random(model_mimic.nv);
366
367	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd q_full(model_full.nq);
368	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd v_full = G * v;
369	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd a_full = G * v;
370
371	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	mimic_test_case.toFull(q, q_full);
372
373	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::crba(model_full, data_full, q_full, pinocchio::Convention::WORLD);
374	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	data_full.M.triangularView<Eigen::StrictlyLower>() =
375	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	24	data_full.M.transpose().triangularView<Eigen::StrictlyLower>();
376	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	const Eigen::VectorXd nle = pinocchio::nonLinearEffects(model_full, data_full, q_full, v_full);
377
378			// // Use equation of motion to compute tau from a_reduced
379	8/16 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken.	12	Eigen::VectorXd tau_ref = G.transpose() * data_full.M * G * a + (G.transpose() * nle);
380	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::rnea(model_mimic, data_rnea_mimic, q, v, a);
381	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 6 times.	12	BOOST_CHECK(tau_ref.isApprox(data_rnea_mimic.tau));
382
383			// NLE
384	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_nle(model_mimic);
385	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_ref_nle(model_mimic);
386			Eigen::VectorXd tau_ref_nle =
387	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	pinocchio::rnea(model_mimic, data_ref_nle, q, v, Eigen::VectorXd::Zero(model_mimic.nv));
388	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd tau_nle = pinocchio::nonLinearEffects(model_mimic, data_nle, q, v);
389	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 6 times.	12	BOOST_CHECK(tau_nle.isApprox(tau_ref_nle));
390
391			// Generalized Gravity
392	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_ref_gg(model_mimic);
393	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_gg(model_mimic);
394	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd tau_ref_gg = pinocchio::rnea(
395	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	model_mimic, data_ref_gg, q, Eigen::VectorXd::Zero(model_mimic.nv),
396	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	24	Eigen::VectorXd::Zero(model_mimic.nv));
397	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd tau_gg = pinocchio::computeGeneralizedGravity(model_mimic, data_gg, q);
398	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 6 times.	12	BOOST_CHECK(tau_gg.isApprox(tau_ref_gg));
399
400			// Static Torque
401			typedef PINOCCHIO_ALIGNED_STD_VECTOR(pinocchio::Force) ForceVector;
402	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	ForceVector fext((size_t)model_mimic.njoints);
403	2/2 ✓ Branch 4 taken 168 times. ✓ Branch 5 taken 6 times.	348	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
404	1/2 ✓ Branch 2 taken 168 times. ✗ Branch 3 not taken.	336	(*it).setRandom();
405
406	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_ref_st(model_mimic);
407	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::Data data_st(model_mimic);
408	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	pinocchio::rnea(
409	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	model_mimic, data_ref_st, q, Eigen::VectorXd::Zero(model_mimic.nv),
410	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Eigen::VectorXd::Zero(model_mimic.nv), fext);
411	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	Eigen::VectorXd tau_st = pinocchio::computeStaticTorque(model_mimic, data_gg, q, fext);
412	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 6 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 6 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 6 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 6 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 6 times.	12	BOOST_CHECK(tau_st.isApprox(data_ref_st.tau));
413		12	}
414		2	}
415
416			BOOST_AUTO_TEST_SUITE_END()
417