GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	325	325	100.0%
Branches:	965	1978	48.8%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019-2023 INRIA
3			//
4
5			#include "pinocchio/multibody/data.hpp"
6			#include "pinocchio/algorithm/joint-configuration.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8			#include "pinocchio/algorithm/geometry.hpp"
9
10			#include "pinocchio/serialization/fwd.hpp"
11			#include "pinocchio/serialization/archive.hpp"
12
13			#include "pinocchio/serialization/spatial.hpp"
14
15			#include "pinocchio/serialization/frame.hpp"
16
17			#include "pinocchio/serialization/joints.hpp"
18			#include "pinocchio/serialization/model.hpp"
19			#include "pinocchio/serialization/data.hpp"
20
21			#include "pinocchio/serialization/geometry.hpp"
22
23			#include "pinocchio/multibody/sample-models.hpp"
24
25			#include <iostream>
26
27			#include <boost/test/unit_test.hpp>
28			#include <boost/utility/binary.hpp>
29
30			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
31
32			template<typename T1, typename T2 = T1>
33			struct call_equality_op
34			{
35		2184	static bool run(const T1 & v1, const T2 & v2)
36			{
37		2184	return v1 == v2;
38			}
39			};
40
41			template<typename T>
42		2198	bool run_call_equality_op(const T & v1, const T & v2)
43			{
44		2198	return call_equality_op<T, T>::run(v1, v2);
45			}
46
47			// Bug fix in Eigen::Tensor
48			#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
49			template<typename Scalar, int NumIndices, int Options, typename IndexType>
50			struct call_equality_op<pinocchio::Tensor<Scalar, NumIndices, Options, IndexType>>
51			{
52			typedef pinocchio::Tensor<Scalar, NumIndices, Options, IndexType> T;
53
54		7	static bool run(const T & v1, const T & v2)
55			{
56			typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXd;
57	4/8 ✓ Branch 1 taken 7 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 7 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 7 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 7 times. ✗ Branch 11 not taken.	7	Eigen::Map<const VectorXd> map1(v1.data(), v1.size(), 1);
58	4/8 ✓ Branch 1 taken 7 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 7 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 7 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 7 times. ✗ Branch 11 not taken.	7	Eigen::Map<const VectorXd> map2(v2.data(), v2.size(), 1);
59	1/2 ✓ Branch 1 taken 7 times. ✗ Branch 2 not taken.	14	return map1 == map2;
60			}
61			};
62			#endif
63
64			template<typename T>
65			struct empty_contructor_algo
66			{
67		2170	static T * run()
68			{
69	1/2 ✓ Branch 2 taken 658 times. ✗ Branch 3 not taken.	2184	return new T();
70			}
71			};
72
73			template<>
74			struct empty_contructor_algo<pinocchio::GeometryObject>
75			{
76		14	static pinocchio::GeometryObject * run()
77			{
78	10/20 ✓ Branch 2 taken 14 times. ✗ Branch 3 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 16 taken 14 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 14 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 14 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 14 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 14 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 14 times. ✗ Branch 33 not taken.	14	return new pinocchio::GeometryObject("", 0, 0, pinocchio::SE3::Identity(), nullptr);
79			}
80			};
81
82			template<typename T>
83		2198	T * empty_contructor()
84			{
85		2198	return empty_contructor_algo<T>::run();
86			}
87
88			template<typename T>
89		314	void generic_test(const T & object, const std::string & filename, const std::string & tag_name)
90			{
91			using namespace pinocchio::serialization;
92
93			// Load and save as TXT
94	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	const std::string txt_filename = filename + ".txt";
95	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToText(object, txt_filename);
96
97			{
98	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
99	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromText(object_loaded, txt_filename);
100
101			// Check
102	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
103
104	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
105			}
106
107			// Load and save as string stream (TXT format)
108	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	std::stringstream ss_out;
109	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToStringStream(object, ss_out);
110
111			{
112	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
113	2/4 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 157 times. ✗ Branch 5 not taken.	314	std::istringstream is(ss_out.str());
114	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromStringStream(object_loaded, is);
115
116			// Check
117	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
118
119	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
120		314	}
121
122			// Load and save as string
123	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	std::string str_out = saveToString(object);
124
125			{
126	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
127	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	std::string str_in(str_out);
128	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromString(object_loaded, str_in);
129
130			// Check
131	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
132
133	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
134		314	}
135			// Load and save as XML
136	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	const std::string xml_filename = filename + ".xml";
137	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToXML(object, xml_filename, tag_name);
138
139			{
140	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
141	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromXML(object_loaded, xml_filename, tag_name);
142			// Check
143	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
144
145	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
146			}
147
148			// Load and save as binary
149	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	const std::string bin_filename = filename + ".bin";
150	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToBinary(object, bin_filename);
151
152			{
153	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
154	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromBinary(object_loaded, bin_filename);
155
156			// Check
157	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
158
159	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
160			}
161
162			// Load and save as binary stream
163	1/2 ✓ Branch 3 taken 157 times. ✗ Branch 4 not taken.	314	boost::asio::streambuf buffer;
164	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToBinary(object, buffer);
165
166			{
167	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
168	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromBinary(object_loaded, buffer);
169
170			// Check
171	7/14 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 157 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 157 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 157 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 157 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 157 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 157 times.	314	BOOST_CHECK(run_call_equality_op(object_loaded, object));
172
173	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
174			}
175
176			// Load and save as static binary stream
177	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	pinocchio::serialization::StaticBuffer static_buffer(100000000);
178	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	saveToBinary(object, static_buffer);
179
180			{
181	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	T & object_loaded = *empty_contructor<T>();
182	1/2 ✓ Branch 1 taken 157 times. ✗ Branch 2 not taken.	314	loadFromBinary(object_loaded, static_buffer);
183
184			// Check
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186
187	1/2 ✓ Branch 0 taken 157 times. ✗ Branch 1 not taken.	314	delete &object_loaded;
188			}
189		314	}
190
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192			{
193			using namespace pinocchio::serialization;
194		2	const size_t size = 10000000;
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	StaticBuffer static_buffer(size);
196	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(size == static_buffer.size());
197
198		2	const size_t new_size = 2 * size;
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	static_buffer.resize(new_size);
200	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(new_size == static_buffer.size());
201
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204	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(reinterpret_cast<const StaticBuffer &>(static_buffer).data() == static_buffer.data());
205		2	}
206
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208			{
209			using namespace pinocchio;
210
211		2	const Eigen::DenseIndex num_cols = 10;
212		2	const Eigen::DenseIndex num_rows = 20;
213
214		2	const Eigen::DenseIndex array_size = 3;
215
216	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd Mat = Eigen::MatrixXd::Random(num_rows, num_cols);
217	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(Mat, TEST_SERIALIZATION_FOLDER "/eigen_matrix", "matrix");
218
219	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd Vec = Eigen::VectorXd::Random(num_rows * num_cols);
220	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(Vec, TEST_SERIALIZATION_FOLDER "/eigen_vector", "vector");
221
222		2	Eigen::array<Eigen::DenseIndex, array_size> array = {1, 2, 3};
223	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(array, TEST_SERIALIZATION_FOLDER "/eigen_array", "array");
224
225		2	const Eigen::DenseIndex tensor_size = 3;
226		2	const Eigen::DenseIndex x_dim = 10, y_dim = 20, z_dim = 30;
227
228			typedef pinocchio::Tensor<double, tensor_size> Tensor3x;
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Tensor3x tensor(x_dim, y_dim, z_dim);
230
231	5/10 ✓ 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. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	Eigen::Map<Eigen::VectorXd>(tensor.data(), tensor.size(), 1).setRandom();
232
233	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(tensor, TEST_SERIALIZATION_FOLDER "/eigen_tensor", "tensor");
234		2	}
235
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237			{
238			using namespace pinocchio;
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
241	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(M, TEST_SERIALIZATION_FOLDER "/SE3", "SE3");
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion m(Motion::Random());
244	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(m, TEST_SERIALIZATION_FOLDER "/Motion", "Motion");
245
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force f(Force::Random());
247	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(f, TEST_SERIALIZATION_FOLDER "/Force", "Force");
248
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Symmetric3 S(Symmetric3::Random());
250	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(S, TEST_SERIALIZATION_FOLDER "/Symmetric3", "Symmetric3");
251
252	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Inertia I(Inertia::Random());
253	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(I, TEST_SERIALIZATION_FOLDER "/Inertia", "Inertia");
254		2	}
255
256	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_multibody_serialization)
257			{
258			using namespace pinocchio;
259
260	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	4	Frame frame("frame", 0, 0, SE3::Random(), SENSOR);
261	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(frame, TEST_SERIALIZATION_FOLDER "/Frame", "Frame");
262		2	}
263
264			template<typename JointModel_>
265			struct init;
266
267			template<typename JointModel_>
268			struct init
269			{
270		116	static JointModel_ run()
271			{
272		116	JointModel_ jmodel;
273		116	jmodel.setIndexes(0, 0, 0);
274		116	return jmodel;
275			}
276			};
277
278			template<typename Scalar, int Options>
279			struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>>
280			{
281			typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel;
282
283		4	static JointModel run()
284			{
285			typedef typename JointModel::Vector3 Vector3;
286	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	4	JointModel jmodel(Vector3::Random().normalized());
287
288		4	jmodel.setIndexes(0, 0, 0);
289		4	return jmodel;
290			}
291			};
292
293			template<typename Scalar, int Options>
294			struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>>
295			{
296			typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel;
297
298		4	static JointModel run()
299			{
300			typedef typename JointModel::Vector3 Vector3;
301	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	4	JointModel jmodel(Vector3::Random().normalized());
302
303		4	jmodel.setIndexes(0, 0, 0);
304		4	return jmodel;
305			}
306			};
307
308			template<typename Scalar, int Options>
309			struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>>
310			{
311			typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel;
312
313		4	static JointModel run()
314			{
315			typedef typename JointModel::Vector3 Vector3;
316	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	4	JointModel jmodel(Vector3::Random().normalized());
317
318		4	jmodel.setIndexes(0, 0, 0);
319		4	return jmodel;
320			}
321			};
322
323			template<typename Scalar, int Options>
324			struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>>
325			{
326			typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel;
327
328		4	static JointModel run()
329			{
330			typedef typename JointModel::Vector3 Vector3;
331	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	4	JointModel jmodel(Vector3::Random().normalized());
332
333		4	jmodel.setIndexes(0, 0, 0);
334		4	return jmodel;
335			}
336			};
337
338			template<typename Scalar, int Options, int axis>
339			struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>>
340			{
341			typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel;
342
343		24	static JointModel run()
344			{
345	1/2 ✓ Branch 1 taken 12 times. ✗ Branch 2 not taken.	24	JointModel jmodel(static_cast<Scalar>(0.0));
346
347		24	jmodel.setIndexes(0, 0, 0);
348		24	return jmodel;
349			}
350			};
351
352			template<typename Scalar, int Options, template<typename, int> class JointCollection>
353			struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>>
354			{
355			typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel;
356
357			static JointModel run()
358			{
359			typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
360			JointModel jmodel((JointModelRX()));
361
362			jmodel.setIndexes(0, 0, 0);
363			return jmodel;
364			}
365			};
366
367			template<typename Scalar, int Options>
368			struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>>
369			{
370			typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel;
371
372		4	static JointModel run()
373			{
374	2/4 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken.	4	JointModel jmodel(pinocchio::XAxis::vector(), pinocchio::YAxis::vector());
375
376		4	jmodel.setIndexes(0, 0, 0);
377		4	return jmodel;
378			}
379			};
380
381			template<typename Scalar, int Options, template<typename, int> class JointCollection>
382			struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>>
383			{
384			typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel;
385
386		2	static JointModel run()
387			{
388			typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
389			typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY;
390	2/4 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken.	2	JointModel jmodel((JointModelRX()));
391	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	jmodel.addJoint(JointModelRY());
392
393	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	jmodel.setIndexes(0, 0, 0);
394		2	return jmodel;
395			}
396			};
397
398			template<typename Scalar, int Options, template<typename, int> class JointCollection>
399			struct init<pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection>>
400			{
401			typedef pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection> JointModel;
402
403		2	static JointModel run()
404			{
405			typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
406	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	JointModelRX jmodel_ref = init<JointModelRX>::run();
407
408	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	JointModel jmodel(jmodel_ref, 1., 0.);
409	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	jmodel.setIndexes(1, 0, 0, 0);
410
411		4	return jmodel;
412			}
413			};
414
415			struct TestJointModel
416			{
417			template<typename JointModel>
418		48	void operator()(const pinocchio::JointModelBase<JointModel> &) const
419			{
420	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	JointModel jmodel = init<JointModel>::run();
421	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	test(jmodel);
422		48	}
423
424			template<typename JointType>
425		48	static void test(JointType & jmodel)
426			{
427	3/6 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 24 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 24 times. ✗ Branch 10 not taken.	48	generic_test(jmodel, TEST_SERIALIZATION_FOLDER "/Joint", "jmodel");
428		48	}
429			};
430
431	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_multibody_joints_model_serialization)
432			{
433			using namespace pinocchio;
434		2	boost::mpl::for_each<JointModelVariant::types>(TestJointModel());
435		2	}
436
437			struct TestJointTransform
438			{
439			template<typename JointModel>
440		44	void operator()(const pinocchio::JointModelBase<JointModel> &) const
441			{
442			typedef typename JointModel::JointDerived JointDerived;
443			typedef typename pinocchio::traits<JointDerived>::Transformation_t Transform;
444			typedef typename pinocchio::traits<JointDerived>::Constraint_t Constraint;
445			typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
446			typedef pinocchio::JointDataBase<JointData> JointDataBase;
447	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointModel jmodel = init<JointModel>::run();
448
449	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointData jdata = jmodel.createData();
450		44	JointDataBase & jdata_base = static_cast<JointDataBase &>(jdata);
451
452			typedef typename pinocchio::LieGroup<JointModel>::type LieGroupType;
453	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	LieGroupType lg;
454
455	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd lb(Eigen::VectorXd::Constant(jmodel.nq(), -1.));
456	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd ub(Eigen::VectorXd::Constant(jmodel.nq(), 1.));
457
458	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	44	Eigen::VectorXd q_random = lg.randomConfiguration(lb, ub);
459
460	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	jmodel.calc(jdata, q_random);
461	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	Transform & m = jdata_base.M();
462	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	test(m);
463
464	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	Constraint & S = jdata_base.S();
465	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	test(S);
466		44	}
467
468			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
469		1	void operator()(const pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> &)
470			{
471			// Do nothing
472		1	}
473
474			template<typename Scalar, int Options, template<typename, int> class JointCollection>
475		1	void operator()(const pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection> &)
476			{
477			// Do nothing
478		1	}
479
480			template<typename Transform>
481		88	static void test(Transform & m)
482			{
483	3/6 ✓ Branch 2 taken 44 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 44 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 44 times. ✗ Branch 10 not taken.	88	generic_test(m, TEST_SERIALIZATION_FOLDER "/JointTransform", "transform");
484		88	}
485			};
486
487	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_multibody_joints_transform_serialization)
488			{
489			using namespace pinocchio;
490		2	boost::mpl::for_each<JointModelVariant::types>(TestJointTransform());
491		2	}
492
493			struct TestJointMotion
494			{
495			template<typename JointModel>
496		44	void operator()(const pinocchio::JointModelBase<JointModel> &) const
497			{
498			typedef typename JointModel::JointDerived JointDerived;
499			typedef typename pinocchio::traits<JointDerived>::Motion_t Motion;
500			typedef typename pinocchio::traits<JointDerived>::Bias_t Bias;
501			typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
502			typedef pinocchio::JointDataBase<JointData> JointDataBase;
503	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointModel jmodel = init<JointModel>::run();
504
505	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointData jdata = jmodel.createData();
506		44	JointDataBase & jdata_base = static_cast<JointDataBase &>(jdata);
507
508			typedef typename pinocchio::LieGroup<JointModel>::type LieGroupType;
509	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	LieGroupType lg;
510
511	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd lb(Eigen::VectorXd::Constant(jmodel.nq(), -1.));
512	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd ub(Eigen::VectorXd::Constant(jmodel.nq(), 1.));
513
514	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	44	Eigen::VectorXd q_random = lg.randomConfiguration(lb, ub);
515	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd v_random = Eigen::VectorXd::Random(jmodel.nv());
516
517	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	jmodel.calc(jdata, q_random, v_random);
518	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	Motion & m = jdata_base.v();
519
520	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	test(m);
521
522	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	Bias & b = jdata_base.c();
523	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	test(b);
524		44	}
525
526			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
527		1	void operator()(const pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> &)
528			{
529			// Do nothing
530		1	}
531
532			template<typename Scalar, int Options, template<typename, int> class JointCollection>
533		1	void operator()(const pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection> &)
534			{
535			// Do nothing
536		1	}
537
538			template<typename Motion>
539		88	static void test(Motion & m)
540			{
541	3/6 ✓ Branch 2 taken 44 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 44 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 44 times. ✗ Branch 10 not taken.	88	generic_test(m, TEST_SERIALIZATION_FOLDER "/JointMotion", "motion");
542		88	}
543			};
544
545	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_multibody_joints_motion_serialization)
546			{
547			using namespace pinocchio;
548		2	boost::mpl::for_each<JointModelVariant::types>(TestJointMotion());
549		2	}
550
551			struct TestJointData
552			{
553			template<typename JointModel>
554		44	void operator()(const pinocchio::JointModelBase<JointModel> &) const
555			{
556			typedef typename JointModel::JointDerived JointDerived;
557			typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
558	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointModel jmodel = init<JointModel>::run();
559
560	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	JointData jdata = jmodel.createData();
561
562			typedef typename pinocchio::LieGroup<JointModel>::type LieGroupType;
563	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	LieGroupType lg;
564
565	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd lb(Eigen::VectorXd::Constant(jmodel.nq(), -1.));
566	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd ub(Eigen::VectorXd::Constant(jmodel.nq(), 1.));
567
568	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	44	Eigen::VectorXd q_random = lg.randomConfiguration(lb, ub);
569	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	Eigen::VectorXd v_random = Eigen::VectorXd::Random(jmodel.nv());
570
571	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	jmodel.calc(jdata, q_random, v_random);
572	2/4 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken.	44	pinocchio::Inertia::Matrix6 I(pinocchio::Inertia::Matrix6::Identity());
573	3/6 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 22 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 22 times. ✗ Branch 8 not taken.	44	jmodel.calc_aba(jdata, Eigen::VectorXd::Zero(jmodel.nv()), I, false);
574	1/2 ✓ Branch 1 taken 22 times. ✗ Branch 2 not taken.	44	test(jdata);
575		44	}
576
577			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
578		1	void operator()(const pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> &)
579			{
580			typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> JointModel;
581			typedef typename JointModel::JointDerived JointDerived;
582			typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
583
584	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModel jmodel_build = init<JointModel>::run();
585
586	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::Model model;
587	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.	1	model.addJoint(0, jmodel_build, pinocchio::SE3::Random(), "model");
588	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	model.lowerPositionLimit.fill(-1.);
589	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	model.upperPositionLimit.fill(1.);
590
591	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	JointModel & jmodel = boost::get<JointModel>(model.joints[1]);
592	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	Eigen::VectorXd q_random = pinocchio::randomConfiguration(model);
593	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	Eigen::VectorXd v_random = Eigen::VectorXd::Random(model.nv);
594
595	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::Data data(model);
596	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	1	JointData & jdata = boost::get<JointData>(data.joints[1]);
597
598	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.calc(jdata, q_random, v_random);
599	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pinocchio::Inertia::Matrix6 I(pinocchio::Inertia::Matrix6::Identity());
600	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.	1	jmodel.calc_aba(jdata, Eigen::VectorXd::Zero(jmodel.nv()), I, false);
601
602	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test(jdata);
603		1	}
604
605			template<typename Scalar, int Options, template<typename, int> class JointCollection>
606		1	void operator()(const pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection> &)
607			{
608			typedef pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection> JointModel;
609			typedef typename JointModel::JointDerived JointDerived;
610			typedef typename pinocchio::traits<JointDerived>::JointDataDerived JointData;
611
612	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModel jmodel = init<JointModel>::run();
613	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointData jdata = jmodel.createData();
614
615	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.	1	Eigen::VectorXd q_random = Eigen::VectorXd::Random(jmodel.jmodel().nq());
616	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.	1	Eigen::VectorXd v_random = Eigen::VectorXd::Random(jmodel.jmodel().nv());
617	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.calc(jdata, q_random, v_random);
618
619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test(jdata);
620		1	}
621
622			template<typename JointData>
623		48	static void test(JointData & joint_data)
624			{
625	3/6 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 24 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 24 times. ✗ Branch 10 not taken.	48	generic_test(joint_data, TEST_SERIALIZATION_FOLDER "/JointData", "data");
626		48	}
627			};
628
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630			{
631			using namespace pinocchio;
632		2	boost::mpl::for_each<JointModelVariant::types>(TestJointData());
633		2	}
634
635	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_model_serialization)
636			{
637			using namespace pinocchio;
638
639	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
640	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
641
642	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(model, TEST_SERIALIZATION_FOLDER "/Model", "Model");
643		2	}
644
645	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_throw_extension)
646			{
647			using namespace pinocchio;
648
649	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
650	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
651
652	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & fake_filename = "this_is_a_fake_filename";
653
654			{
655	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const std::string complete_filename = fake_filename + ".txt";
656	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_REQUIRE_THROW(loadFromText(model, complete_filename), std::invalid_argument);
657		2	}
658
659	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	saveToText(model, TEST_SERIALIZATION_FOLDER "/model.txt");
660	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	saveToXML(model, TEST_SERIALIZATION_FOLDER "/model.xml", "model");
661	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	saveToBinary(model, TEST_SERIALIZATION_FOLDER "/model.bin");
662
663			{
664	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const std::string complete_filename = fake_filename + ".txte";
665
666	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_REQUIRE_THROW(loadFromText(model, complete_filename), std::invalid_argument);
667		2	}
668
669			{
670	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const std::string complete_filename = fake_filename + ".xmle";
671	12/36 ✓ 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 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 29 not taken. ✗ Branch 30 not taken. ✗ Branch 32 not taken. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✗ Branch 38 not taken. ✗ Branch 40 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 47 taken 1 times. ✓ Branch 50 taken 1 times. ✗ Branch 51 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 59 taken 1 times. ✗ Branch 60 not taken. ✓ Branch 62 taken 1 times. ✗ Branch 63 not taken. ✓ Branch 65 taken 1 times. ✗ Branch 66 not taken. ✗ Branch 70 not taken. ✓ Branch 71 taken 1 times.	8	BOOST_REQUIRE_THROW(loadFromXML(model, complete_filename, "model"), std::invalid_argument);
672		2	}
673
674			{
675	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const std::string complete_filename = fake_filename + ".bine";
676	11/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 8 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 23 not taken. ✗ Branch 24 not taken. ✗ Branch 26 not taken. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✗ Branch 32 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times. ✓ Branch 42 taken 1 times. ✗ Branch 43 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 51 taken 1 times. ✗ Branch 52 not taken. ✓ Branch 54 taken 1 times. ✗ Branch 55 not taken. ✓ Branch 57 taken 1 times. ✗ Branch 58 not taken. ✗ Branch 62 not taken. ✓ Branch 63 taken 1 times.	4	BOOST_REQUIRE_THROW(loadFromBinary(model, complete_filename), std::invalid_argument);
677		2	}
678		2	}
679
680	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_data_serialization)
681			{
682			using namespace pinocchio;
683
684	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
685	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
686
687	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
688
689	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(data, TEST_SERIALIZATION_FOLDER "/Data", "Data");
690		2	}
691
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693			{
694			using namespace pinocchio;
695
696	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	CollisionPair collision_pair(1, 2);
697	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(collision_pair, TEST_SERIALIZATION_FOLDER "/CollisionPair", "CollisionPair");
698		2	}
699
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701			{
702			using namespace pinocchio;
703
704			typedef GeometryObject::Base GeometryObject_ModelItem;
705	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	GeometryObject_ModelItem model_item("pinocchio", 1, 2, SE3::Random());
706	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(model_item, TEST_SERIALIZATION_FOLDER "/ModelItem", "ModelItem");
707		2	}
708
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710			{
711			using namespace pinocchio;
712
713			{
714	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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 1 times. ✗ Branch 30 not taken.	4	GeometryObject geometry_object("nullptr", 1, 2, SE3::Random(), nullptr);
715	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geometry_object, TEST_SERIALIZATION_FOLDER "/GeometryObject", "GeometryObject");
716		2	}
717
718			#ifdef PINOCCHIO_WITH_HPP_FCL
719			{
720	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	hpp::fcl::Box box(1., 2., 3.);
721	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(box, TEST_SERIALIZATION_FOLDER "/Box", "Box");
722		2	}
723
724			#if HPP_FCL_VERSION_AT_LEAST(3, 0, 0)
725			{
726			typedef GeometryObject::CollisionGeometryPtr CollisionGeometryPtr;
727	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	CollisionGeometryPtr box_ptr = CollisionGeometryPtr(new hpp::fcl::Box(1., 2., 3.));
728	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 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken.	4	GeometryObject geometry_object("box", 1, 2, SE3::Random(), box_ptr);
729	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geometry_object, TEST_SERIALIZATION_FOLDER "/GeometryObject", "GeometryObject");
730		2	}
731			#endif // hpp-fcl >= 3.0.0
732			#endif
733		2	}
734
735	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_geometry_model_and_data_serialization)
736			{
737			using namespace pinocchio;
738
739	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
740	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoid(model);
741	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
742
743			// Empty structures
744			{
745	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
746	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geom_model, TEST_SERIALIZATION_FOLDER "/GeometryModel", "GeometryModel");
747
748	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
749	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geom_data, TEST_SERIALIZATION_FOLDER "/GeometryData", "GeometryData");
750		2	}
751
752			#ifdef PINOCCHIO_WITH_HPP_FCL
753			#if HPP_FCL_VERSION_AT_LEAST(3, 0, 0)
754			{
755	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geom_model;
756	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidGeometries(model, geom_model);
757			// Append new objects
758			{
759			using namespace hpp::fcl;
760	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	BVHModel<OBBRSS> * bvh_ptr = new BVHModel<OBBRSS>();
761			// bvh_ptr->beginModel();
762			// bvh_ptr->addSubModel(p1, t1);
763			// bvh_ptr->endModel();
764
765			GeometryObject obj_bvh(
766	10/20 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken.	4	"bvh", 0, 0, SE3::Identity(), GeometryObject::CollisionGeometryPtr(bvh_ptr));
767	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addGeometryObject(obj_bvh);
768
769		2	const double min_altitude = -1.;
770		2	const double x_dim = 1., y_dim = 2.;
771		2	const Eigen::DenseIndex nx = 100, ny = 200;
772	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Eigen::MatrixXd heights = Eigen::MatrixXd::Random(ny, nx);
773
774			HeightField<OBBRSS> * hfield_ptr =
775	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	new HeightField<OBBRSS>(x_dim, y_dim, heights, min_altitude);
776
777			GeometryObject obj_hfield(
778	10/20 ✓ 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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken.	4	"hfield", 0, 0, SE3::Identity(), GeometryObject::CollisionGeometryPtr(hfield_ptr));
779	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addGeometryObject(obj_hfield);
780		2	}
781	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geom_model, TEST_SERIALIZATION_FOLDER "/GeometryModel", "GeometryModel");
782
783	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryData geom_data(geom_model);
784	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd q = pinocchio::neutral(model);
785	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::forwardKinematics(model, data, q);
786	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q);
787
788	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	generic_test(geom_data, TEST_SERIALIZATION_FOLDER "/GeometryData", "GeometryData");
789		2	}
790			#endif // hpp-fcl >= 3.0.0
791			#endif // PINOCCHIO_WITH_HPP_FCL
792		2	}
793
794			BOOST_AUTO_TEST_SUITE_END()
795