GCC Code Coverage Report

Directory:	./
File:	unittest/aba-derivatives.cpp
Date:	2025-02-12 21:03:38

	Exec	Total	Coverage
Lines:	354	354	100.0%
Branches:	1405	2776	50.6%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018-2020 CNRS INRIA
3			//
4
5			#include "pinocchio/algorithm/jacobian.hpp"
6			#include "pinocchio/algorithm/joint-configuration.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8			#include "pinocchio/algorithm/kinematics-derivatives.hpp"
9			#include "pinocchio/algorithm/rnea.hpp"
10			#include "pinocchio/algorithm/rnea-derivatives.hpp"
11			#include "pinocchio/algorithm/aba.hpp"
12			#include "pinocchio/algorithm/aba-derivatives.hpp"
13			#include "pinocchio/algorithm/crba.hpp"
14			#include "pinocchio/multibody/sample-models.hpp"
15
16			#include <iostream>
17
18			#include <boost/test/unit_test.hpp>
19			#include <boost/utility/binary.hpp>
20
21			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
22
23	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_aba_derivatives)
24			{
25			using namespace Eigen;
26			using namespace pinocchio;
27
28	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
29	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
30
31	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
32	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.);
33	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.);
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
35	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));
36	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
37	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(aba(model, data_ref, q, v, tau, Convention::LOCAL));
38
39	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau_from_a(rnea(model, data_ref, q, v, a));
40	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_from_a.isApprox(tau));
41
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::RowMatrixXs aba_partial_dtau(model.nv, model.nv);
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
48
49		2	const double prec = Eigen::NumTraits<double>::dummy_precision();
50
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data, q, v, tau, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeRNEADerivatives(model, data_ref, q, v, a);
53	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));
54	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
55			{
56	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k]));
57	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.ov[k].isApprox(data_ref.ov[k]));
58	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oh[k].isApprox(data_ref.oh[k]));
59	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 27 times.	54	BOOST_CHECK(data.oa_gf[k].isApprox(data_ref.oa[k] - model.gravity));
60	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oa_gf[k].isApprox(data_ref.oa_gf[k]));
61	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 27 times.	54	BOOST_CHECK(data.of[k].isApprox(data_ref.of[k], 1e1 * prec));
62	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oYcrb[k].isApprox(data_ref.oYcrb[k]));
63	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.doYcrb[k].isApprox(data_ref.doYcrb[k]));
64			}
65
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_ref, q, v, tau, Convention::LOCAL);
67	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
68			{
69	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 27 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 27 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 27 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 27 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 27 times. ✗ Branch 41 not taken. ✗ Branch 45 not taken. ✓ Branch 46 taken 27 times.	54	BOOST_CHECK(data.oYaba[k].isApprox(
70			data_ref.oMi[k].toDualActionMatrix() * data_ref.Yaba[k]
71			* data_ref.oMi[k].inverse().toActionMatrix()));
72			// BOOST_CHECK(data.of[k].isApprox(data.oMi[k].act(data_ref.f[k])));
73			}
74	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.ddq.isApprox(data_ref.ddq));
75
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_ref, q, v, tau, Convention::WORLD);
77	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));
78	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.u.isApprox(data_ref.u));
79	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex k = 1; k < (Model::JointIndex)model.njoints; ++k)
80			{
81	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k]));
82	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.ov[k].isApprox(data_ref.ov[k]));
83	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oYaba[k].isApprox(data_ref.oYaba[k]));
84			// BOOST_CHECK(data.of[k].isApprox(data_ref.of[k]));
85	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oa_gf[k].isApprox(data_ref.oa_gf[k]));
86	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 27 times.	54	BOOST_CHECK(data.joints[k].U().isApprox(data_ref.joints[k].U()));
87	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 27 times.	54	BOOST_CHECK(data.joints[k].StU().isApprox(data_ref.joints[k].StU()));
88	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 27 times.	54	BOOST_CHECK(data.joints[k].Dinv().isApprox(data_ref.joints[k].Dinv()));
89	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 27 times.	54	BOOST_CHECK(data.joints[k].UDinv().isApprox(data_ref.joints[k].UDinv()));
90			}
91	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.ddq.isApprox(data_ref.ddq));
92
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
94	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));
95
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data_ref, q);
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.Minv.triangularView<Eigen::StrictlyLower>() =
98	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.Minv.transpose().triangularView<Eigen::StrictlyLower>();
99
100	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(aba_partial_dtau.isApprox(data_ref.Minv));
101
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103	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));
104	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.dVdq.isApprox(data_ref.dVdq));
105	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.dAdq.isApprox(data_ref.dAdq));
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 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.dAdv.isApprox(data_ref.dAdv));
107	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.dtau_dq.isApprox(data_ref.dtau_dq));
108	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.dtau_dv.isApprox(data_ref.dtau_dv));
109
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq_fd(model.nv, model.nv);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq_fd.setZero();
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv_fd(model.nv, model.nv);
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv_fd.setZero();
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau_fd(model.nv, model.nv);
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau_fd.setZero();
116
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fd(model);
118	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a0 = aba(model, data_fd, q, v, tau, Convention::LOCAL);
119	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(VectorXd::Zero(model.nv));
120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a_plus(model.nv);
122		2	const double alpha = 1e-8;
123	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
124			{
125	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
126	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
127	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q_plus, v, tau, Convention::LOCAL);
128
129	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dq_fd.col(k) = (a_plus - a0) / alpha;
130	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
131			}
132	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(aba_partial_dq.isApprox(aba_partial_dq_fd, sqrt(alpha)));
133
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_plus(v);
135	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
136			{
137	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] += alpha;
138	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q, v_plus, tau, Convention::LOCAL);
139
140	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dv_fd.col(k) = (a_plus - a0) / alpha;
141	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] -= alpha;
142			}
143	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(aba_partial_dv.isApprox(aba_partial_dv_fd, sqrt(alpha)));
144
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_plus(tau);
146	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
147			{
148	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	tau_plus[k] += alpha;
149	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q, v, tau_plus, Convention::LOCAL);
150
151	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dtau_fd.col(k) = (a_plus - a0) / alpha;
152	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	tau_plus[k] -= alpha;
153			}
154	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(aba_partial_dtau.isApprox(aba_partial_dtau_fd, sqrt(alpha)));
155		2	}
156
157	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_aba_minimal_argument)
158			{
159			using namespace Eigen;
160			using namespace pinocchio;
161
162	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
164
165	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
166
167	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.);
168	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.);
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
170	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));
171	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
172	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(aba(model, data_ref, q, v, tau, Convention::LOCAL));
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::RowMatrixXs aba_partial_dtau(model.nv, model.nv);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
180
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(
182			model, data_ref, q, v, tau, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
183
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data, q, v, tau);
185
186	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));
187	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));
188	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.dVdq.isApprox(data_ref.dVdq));
189	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.dAdq.isApprox(data_ref.dAdq));
190	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.dAdv.isApprox(data_ref.dAdv));
191	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.dtau_dq.isApprox(data_ref.dtau_dq));
192	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.dtau_dv.isApprox(data_ref.dtau_dv));
193	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.Minv.isApprox(aba_partial_dtau));
194	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.ddq_dq.isApprox(aba_partial_dq));
195	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.ddq_dv.isApprox(aba_partial_dv));
196		2	}
197
198	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_aba_derivatives_fext)
199			{
200			using namespace Eigen;
201			using namespace pinocchio;
202
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
205
206	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
207
208	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.);
209	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.);
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
211	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));
212	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
213	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(aba(model, data_ref, q, v, tau, Convention::LOCAL));
214
215			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
216	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ForceVector fext((size_t)model.njoints);
217	2/2 ✓ Branch 4 taken 28 times. ✓ Branch 5 taken 1 times.	58	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
218	1/2 ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken.	56	(*it).setRandom();
219
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::RowMatrixXs aba_partial_dtau(model.nv, model.nv);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
226
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(
228			model, data, q, v, tau, fext, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
229
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_ref, q, v, tau, fext, Convention::LOCAL);
231			// updateGlobalPlacements(model, data_ref);
232			// for(size_t k =1; k < (size_t)model.njoints; ++k)
233			// {
234			// BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k]));
235			// BOOST_CHECK(daita.of[k].isApprox(data_ref.oMi[k].act(data.f[k])));
236			//
237			// }
238	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.ddq.isApprox(data_ref.ddq));
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data_ref, q, v, tau);
241	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(aba_partial_dv.isApprox(data_ref.ddq_dv));
242	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(aba_partial_dtau.isApprox(data_ref.Minv));
243
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq_fd(model.nv, model.nv);
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq_fd.setZero();
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv_fd(model.nv, model.nv);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv_fd.setZero();
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau_fd(model.nv, model.nv);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau_fd.setZero();
250
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fd(model);
252	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const VectorXd a0 = aba(model, data_fd, q, v, tau, fext, Convention::LOCAL);
253	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_eps(VectorXd::Zero(model.nv));
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_plus(model.nq);
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a_plus(model.nv);
256		2	const double alpha = 1e-8;
257	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
258			{
259	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] += alpha;
260	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
261	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q_plus, v, tau, fext, Convention::LOCAL);
262
263	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dq_fd.col(k) = (a_plus - a0) / alpha;
264	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] -= alpha;
265			}
266	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(aba_partial_dq.isApprox(aba_partial_dq_fd, sqrt(alpha)));
267
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_plus(v);
269	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
270			{
271	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] += alpha;
272	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q, v_plus, tau, fext, Convention::LOCAL);
273
274	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dv_fd.col(k) = (a_plus - a0) / alpha;
275	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_plus[k] -= alpha;
276			}
277	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(aba_partial_dv.isApprox(aba_partial_dv_fd, sqrt(alpha)));
278
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd tau_plus(tau);
280	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
281			{
282	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	tau_plus[k] += alpha;
283	2/4 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken.	64	a_plus = aba(model, data_fd, q, v, tau_plus, fext, Convention::LOCAL);
284
285	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	aba_partial_dtau_fd.col(k) = (a_plus - a0) / alpha;
286	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	tau_plus[k] -= alpha;
287			}
288	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(aba_partial_dtau.isApprox(aba_partial_dtau_fd, sqrt(alpha)));
289
290			// test the shortcut
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_shortcut(model);
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data_shortcut, q, v, tau, fext);
293	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_shortcut.ddq_dq.isApprox(aba_partial_dq));
294	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_shortcut.ddq_dv.isApprox(aba_partial_dv));
295	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_shortcut.Minv.isApprox(aba_partial_dtau));
296		2	}
297
298	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_multiple_calls)
299			{
300			using namespace Eigen;
301			using namespace pinocchio;
302
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
305
306	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data1(model), data2(model);
307
308	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.);
309	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.);
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
311	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));
312	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
313
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data1, q, v, tau);
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data2 = data1;
316
317	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int k = 0; k < 20; ++k)
318			{
319	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	computeABADerivatives(model, data1, q, v, tau);
320			}
321
322	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(data1.J.isApprox(data2.J));
323	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data1.dJ.isApprox(data2.dJ));
324	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data1.dVdq.isApprox(data2.dVdq));
325	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data1.dAdq.isApprox(data2.dAdq));
326	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(data1.dAdv.isApprox(data2.dAdv));
327
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 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(data1.dFdq.isApprox(data2.dFdq));
329	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(data1.dFdv.isApprox(data2.dFdv));
330
331	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(data1.dtau_dq.isApprox(data2.dtau_dq));
332	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(data1.dtau_dv.isApprox(data2.dtau_dv));
333
334	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(data1.ddq_dq.isApprox(data2.ddq_dq));
335	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(data1.ddq_dv.isApprox(data2.ddq_dv));
336	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(data1.Minv.isApprox(data2.Minv));
337		2	}
338
339	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_aba_derivatives_vs_kinematics_derivatives)
340			{
341			using namespace Eigen;
342			using namespace pinocchio;
343
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
346
347	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
348
349	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.);
350	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.);
351	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
352	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));
353	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));
354
355	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau = rnea(model, data_ref, q, v, a);
356
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
358	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau(model.nv, model.nv);
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
363
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data, q, v, tau, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeForwardKinematicsDerivatives(model, data_ref, q, v, a);
366
367	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));
368	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));
369
370	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (size_t k = 1; k < (size_t)model.njoints; ++k)
371			{
372	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k]));
373	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.ov[k].isApprox(data_ref.ov[k]));
374	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 27 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 27 times.	54	BOOST_CHECK(data.oa[k].isApprox(data_ref.oa[k]));
375			}
376		2	}
377
378	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_optimized_aba_derivatives)
379			{
380			using namespace Eigen;
381			using namespace pinocchio;
382
383	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
385
386	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
387
388	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.);
389	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.);
390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
391	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));
392	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
393
394	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
398	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau(model.nv, model.nv);
399	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
400
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, Convention::WORLD);
402	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
403
404	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq_ref(model.nv, model.nv);
405	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq_ref.setZero();
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv_ref(model.nv, model.nv);
407	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv_ref.setZero();
408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau_ref(model.nv, model.nv);
409	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau_ref.setZero();
410
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(
412			model, data_ref, q, v, tau, aba_partial_dq_ref, aba_partial_dv_ref, aba_partial_dtau_ref);
413
414	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.ddq.isApprox(data_ref.ddq));
415	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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.Minv.isApprox(data_ref.Minv));
416
417	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(aba_partial_dq.isApprox(aba_partial_dq_ref));
418	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(aba_partial_dv.isApprox(aba_partial_dv_ref));
419	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(aba_partial_dtau.isApprox(aba_partial_dtau_ref));
420
421			// Test multiple calls
422		2	const int num_calls = 20;
423	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, Convention::WORLD);
424	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int it = 0; it < num_calls; ++it)
425			{
426	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	computeABADerivatives(model, data, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
427
428	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.ddq.isApprox(data_ref.ddq));
429	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.Minv.isApprox(data_ref.Minv));
430
431	2/2 ✓ Branch 1 taken 540 times. ✓ Branch 2 taken 20 times.	1120	for (size_t joint_id = 1; joint_id < model.joints.size(); ++joint_id)
432			{
433	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oMi[joint_id].isApprox(data_ref.oMi[joint_id]));
434	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.ov[joint_id].isApprox(data_ref.ov[joint_id]));
435	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oa[joint_id].isApprox(data_ref.oa[joint_id]));
436	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oa_gf[joint_id].isApprox(data_ref.oa_gf[joint_id]));
437	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.of[joint_id].isApprox(data_ref.of[joint_id]));
438	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oh[joint_id].isApprox(data_ref.oh[joint_id]));
439	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oYaba[joint_id].isApprox(data_ref.oYaba[joint_id]));
440	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oYcrb[joint_id].isApprox(data_ref.oYcrb[joint_id]));
441			}
442
443	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.J.isApprox(data_ref.J));
444	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dJ.isApprox(data_ref.dJ));
445	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dVdq.isApprox(data_ref.dVdq));
446	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dAdq.isApprox(data_ref.dAdq));
447	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dAdv.isApprox(data_ref.dAdv));
448	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFdq.isApprox(data_ref.dFdq));
449	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFdv.isApprox(data_ref.dFdv));
450	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFda.isApprox(data_ref.dFda));
451
452	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dq.isApprox(aba_partial_dq_ref));
453	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dv.isApprox(aba_partial_dv_ref));
454	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dtau.isApprox(aba_partial_dtau_ref));
455			}
456		2	}
457
458	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_optimized_aba_derivatives_fext)
459			{
460			using namespace Eigen;
461			using namespace pinocchio;
462
463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
465
466	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
467
468	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.);
469	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.);
470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
471	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));
472	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau(VectorXd::Random(model.nv));
473
474			typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
475	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	ForceVector fext((size_t)model.njoints);
476	2/2 ✓ Branch 4 taken 28 times. ✓ Branch 5 taken 1 times.	58	for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
477	1/2 ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken.	56	(*it).setRandom();
478
479	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq(model.nv, model.nv);
480	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq.setZero();
481	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv(model.nv, model.nv);
482	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv.setZero();
483	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau(model.nv, model.nv);
484	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau.setZero();
485
486	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, fext, Convention::WORLD);
487	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(model, data, fext, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
488
489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dq_ref(model.nv, model.nv);
490	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dq_ref.setZero();
491	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dv_ref(model.nv, model.nv);
492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dv_ref.setZero();
493	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	MatrixXd aba_partial_dtau_ref(model.nv, model.nv);
494	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba_partial_dtau_ref.setZero();
495
496	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeABADerivatives(
497			model, data_ref, q, v, tau, fext, aba_partial_dq_ref, aba_partial_dv_ref, aba_partial_dtau_ref);
498
499	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.ddq.isApprox(data_ref.ddq));
500	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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.Minv.isApprox(data_ref.Minv));
501
502	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(aba_partial_dq.isApprox(aba_partial_dq_ref));
503	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(aba_partial_dv.isApprox(aba_partial_dv_ref));
504	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(aba_partial_dtau.isApprox(aba_partial_dtau_ref));
505
506			// Test multiple calls
507		2	const int num_calls = 20;
508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, fext, Convention::WORLD);
509	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int it = 0; it < num_calls; ++it)
510			{
511	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	computeABADerivatives(model, data, fext, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
512
513	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.ddq.isApprox(data_ref.ddq));
514	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.Minv.isApprox(data_ref.Minv));
515
516	2/2 ✓ Branch 1 taken 540 times. ✓ Branch 2 taken 20 times.	1120	for (size_t joint_id = 1; joint_id < model.joints.size(); ++joint_id)
517			{
518	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oMi[joint_id].isApprox(data_ref.oMi[joint_id]));
519	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.ov[joint_id].isApprox(data_ref.ov[joint_id]));
520	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oa[joint_id].isApprox(data_ref.oa[joint_id]));
521	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oa_gf[joint_id].isApprox(data_ref.oa_gf[joint_id]));
522	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.of[joint_id].isApprox(data_ref.of[joint_id]));
523	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oh[joint_id].isApprox(data_ref.oh[joint_id]));
524	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oYaba[joint_id].isApprox(data_ref.oYaba[joint_id]));
525	7/14 ✓ Branch 1 taken 540 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 540 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 540 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 540 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 540 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 540 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 540 times.	1080	BOOST_CHECK(data.oYcrb[joint_id].isApprox(data_ref.oYcrb[joint_id]));
526			}
527
528	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.J.isApprox(data_ref.J));
529	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dJ.isApprox(data_ref.dJ));
530	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dVdq.isApprox(data_ref.dVdq));
531	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dAdq.isApprox(data_ref.dAdq));
532	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dAdv.isApprox(data_ref.dAdv));
533	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFdq.isApprox(data_ref.dFdq));
534	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFdv.isApprox(data_ref.dFdv));
535	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(data.dFda.isApprox(data_ref.dFda));
536
537	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dq.isApprox(aba_partial_dq_ref));
538	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dv.isApprox(aba_partial_dv_ref));
539	7/14 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 20 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 20 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 20 times.	40	BOOST_CHECK(aba_partial_dtau.isApprox(aba_partial_dtau_ref));
540			}
541		2	}
542
543			BOOST_AUTO_TEST_SUITE_END()
544