GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	212	212	100.0%
Branches:	724	1440	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2021 CNRS INRIA
3			//
4
5			#include "pinocchio/algorithm/aba.hpp"
6			#include "pinocchio/algorithm/rnea.hpp"
7			#include "pinocchio/algorithm/jacobian.hpp"
8			#include "pinocchio/algorithm/joint-configuration.hpp"
9			#include "pinocchio/algorithm/crba.hpp"
10			#include "pinocchio/multibody/sample-models.hpp"
11
12			#include "pinocchio/algorithm/compute-all-terms.hpp"
13			#include "pinocchio/utils/timer.hpp"
14
15			#include <iostream>
16
17			#include <boost/test/unit_test.hpp>
18			#include <boost/utility/binary.hpp>
19
20			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21
22			template<typename JointModel>
23		32	void test_joint_methods(const pinocchio::JointModelBase<JointModel> & jmodel)
24			{
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26			typedef typename pinocchio::JointModelBase<JointModel>::JointDataDerived JointData;
27			typedef typename JointModel::ConfigVector_t ConfigVector_t;
28			typedef typename pinocchio::LieGroup<JointModel>::type LieGroupType;
29
30	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	JointData jdata = jmodel.createData();
31
32	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	ConfigVector_t ql(ConfigVector_t::Constant(jmodel.nq(), -M_PI));
33	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	ConfigVector_t qu(ConfigVector_t::Constant(jmodel.nq(), M_PI));
34
35	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	ConfigVector_t q = LieGroupType().randomConfiguration(ql, qu);
36	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	pinocchio::Inertia::Matrix6 I(pinocchio::Inertia::Random().matrix());
37	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	pinocchio::Inertia::Matrix6 I_check = I;
38	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	const Eigen::VectorXd armature =
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40
41	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	jmodel.calc(jdata, q);
42	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	jmodel.calc_aba(jdata, armature, I, true);
43
44	4/8 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 16 times. ✗ Branch 11 not taken.	32	std::cout << "armature: " << armature.transpose() << std::endl;
45	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	Eigen::MatrixXd S = jdata.S.matrix();
46	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	Eigen::MatrixXd U_check = I_check * S;
47	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	Eigen::MatrixXd StU_check = S.transpose() * U_check;
48	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	StU_check.diagonal() += armature;
49	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	Eigen::MatrixXd Dinv_check = StU_check.inverse();
50	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	Eigen::MatrixXd UDinv_check = U_check * Dinv_check;
51	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	Eigen::MatrixXd update_check = UDinv_check * U_check.transpose();
52	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	I_check -= update_check;
53
54	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	std::cout << "I_check:\n" << I_check << std::endl;
55	3/6 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 16 times. ✗ Branch 8 not taken.	32	std::cout << "I:\n" << I << std::endl;
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59
60			// Checking the inertia was correctly updated
61			// We use isApprox as usual, except for the freeflyer,
62			// where the correct result is exacly zero and isApprox would fail.
63			// Only for this single case, we use the infinity norm of the difference
64	3/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 15 times.	32	if (jmodel.shortname() == "JointModelFreeFlyer")
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66			else
67	7/14 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 15 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 15 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 15 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 15 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 15 times.	30	BOOST_CHECK(I.isApprox(I_check));
68		32	}
69
70			struct TestJointMethods
71			{
72
73			template<typename JointModel>
74		28	void operator()(const pinocchio::JointModelBase<JointModel> &) const
75			{
76	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	JointModel jmodel;
77	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	jmodel.setIndexes(0, 0, 0);
78
79	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	test_joint_methods(jmodel);
80		28	}
81
82			void operator()(const pinocchio::JointModelBase<pinocchio::JointModelComposite> &) const
83			{
84			pinocchio::JointModelComposite jmodel_composite;
85			jmodel_composite.addJoint(pinocchio::JointModelRX());
86			jmodel_composite.addJoint(pinocchio::JointModelRY());
87			jmodel_composite.setIndexes(0, 0, 0);
88
89			// TODO: correct LieGroup
90			// test_joint_methods(jmodel_composite);
91			}
92
93		1	void operator()(const pinocchio::JointModelBase<pinocchio::JointModelRevoluteUnaligned> &) const
94			{
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_methods(jmodel);
99		1	}
100
101		1	void operator()(const pinocchio::JointModelBase<pinocchio::JointModelPrismaticUnaligned> &) const
102			{
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pinocchio::JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
105
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_methods(jmodel);
107		1	}
108			};
109
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111			{
112			using namespace pinocchio;
113
114			typedef boost::variant<
115			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical,
116			JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned,
117			JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelRUBX, JointModelRUBY,
118			JointModelRUBZ>
119			Variant;
120
121		2	boost::mpl::for_each<Variant::types>(TestJointMethods());
122		2	}
123
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125			{
126			using namespace Eigen;
127			using namespace pinocchio;
128
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
131
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
134
135	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
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137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
138
139	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
140	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau = VectorXd::Zero(model.nv);
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142
143	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tau = rnea(model, data_ref, q, v, a);
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, Convention::WORLD);
146
147	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (size_t k = 1; k < (size_t)model.njoints; ++k)
148			{
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152			}
153
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155
156			// Test against deprecated ABA
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_deprecated(model);
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_deprecated, q, v, tau, Convention::LOCAL);
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160
161			// Test multiple calls
162			{
163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data datas(model);
164	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a1 = aba(model, datas, q, v, tau, Convention::LOCAL);
165	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a2 = aba(model, datas, q, v, tau, Convention::LOCAL);
166	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a3 = aba(model, datas, q, v, tau, Convention::LOCAL);
167
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171		2	}
172
173			// Test multiple calls
174			{
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data datas(model);
176	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a1 = aba(model, datas, q, v, tau, Convention::WORLD);
177	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a2 = aba(model, datas, q, v, tau, Convention::WORLD);
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a3 = aba(model, datas, q, v, tau, Convention::WORLD);
179
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183		2	}
184		2	}
185
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187			{
188			using namespace Eigen;
189			using namespace pinocchio;
190
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
193
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
195
196	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
197	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
199
200	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);
201	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);
202
203	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Random());
204
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nonLinearEffects(model, data, q, v);
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data.M.triangularView<Eigen::StrictlyLower>() =
209	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.M.transpose().triangularView<Eigen::StrictlyLower>();
210
211	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	VectorXd tau = data.M * a + data.nle;
212	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x J = Data::Matrix6x::Zero(6, model.nv);
213	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::Index i = 1; i < (Model::Index)model.njoints; ++i)
214			{
215	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	getJointJacobian(model, data, i, LOCAL, J);
216	4/8 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	tau -= J.transpose() * fext[i].toVector();
217	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	J.setZero();
218			}
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, fext, Convention::WORLD);
220
221	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(data.ddq.isApprox(a, 1e-12));
222
223			// Test against deprecated ABA
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_deprecated(model);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_deprecated, q, v, tau, fext, Convention::LOCAL);
226	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_deprecated.ddq.isApprox(data.ddq));
227		2	}
228
229	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_vs_rnea)
230			{
231			using namespace Eigen;
232			using namespace pinocchio;
233
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
236
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
239
240	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<7>().fill(-1.);
241	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<7>().fill(1.);
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
243
244	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau = VectorXd::Zero(model.nv);
246	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Ones(model.nv);
247
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	nonLinearEffects(model, data_ref, q, v);
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
251	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
252
253	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	tau = data_ref.M * a + data_ref.nle;
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, Convention::WORLD);
255
256	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd tau_ref = rnea(model, data_ref, q, v, a);
257	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(tau_ref.isApprox(tau, 1e-12));
258	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(data.ddq.isApprox(a, 1e-12));
259
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_deprecated(model);
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data_deprecated, q, v, tau, Convention::LOCAL);
262	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(data_deprecated.ddq.isApprox(a, 1e-12));
263		2	}
264
265	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_computeMinverse)
266			{
267			using namespace Eigen;
268			using namespace pinocchio;
269
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
273
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
276
277	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.);
278	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.);
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
280	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);
281
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
284	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
285	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	MatrixXd Minv_ref(data_ref.M.inverse());
286
287	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data, q);
288
289	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(data.Minv.topRows<6>().isApprox(Minv_ref.topRows<6>()));
290
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data.Minv.triangularView<Eigen::StrictlyLower>() =
292	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.Minv.transpose().triangularView<Eigen::StrictlyLower>();
293
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.Minv.isApprox(Minv_ref));
295
296			// std::cout << "Minv:\n" << data.Minv.block<10,10>(0,0) << std::endl;
297			// std::cout << "Minv_ref:\n" << Minv_ref.block<10,10>(0,0) << std::endl;
298			//
299			// std::cout << "Minv:\n" << data.Minv.bottomRows<10>() << std::endl;
300			// std::cout << "Minv_ref:\n" << Minv_ref.bottomRows<10>() << std::endl;
301		2	}
302
303	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_computeMinverse_noupdate)
304			{
305			using namespace Eigen;
306			using namespace pinocchio;
307
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
314
315	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.);
316	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.);
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
318	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);
319	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);
320
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data_ref, q, Convention::WORLD);
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
323	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
324	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	MatrixXd Minv_ref(data_ref.M.inverse());
325
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	aba(model, data, q, v, tau, Convention::WORLD);
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data);
328	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 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 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(data.Minv.topRows<6>().isApprox(Minv_ref.topRows<6>()));
329
330	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data.Minv.triangularView<Eigen::StrictlyLower>() =
331	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.Minv.transpose().triangularView<Eigen::StrictlyLower>();
332
333	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(Minv_ref));
334
335	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_ref2(model);
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data_ref2, q);
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref2.Minv.triangularView<Eigen::StrictlyLower>() =
338	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_ref2.Minv.transpose().triangularView<Eigen::StrictlyLower>();
339	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_ref2.Minv));
340		2	}
341
342	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)
343			{
344			using namespace Eigen;
345			using namespace pinocchio;
346
347	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
348	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
349
350	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);
351
352	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.);
353	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.);
354	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
355
356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data1, q);
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data2 = data1;
358
359	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (int k = 0; k < 20; ++k)
360			{
361	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	computeMinverse(model, data1, q);
362			}
363
364	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));
365		2	}
366
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368			{
369	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
371	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	model.armature = Eigen::VectorXd::Random(model.nv) + Eigen::VectorXd::Constant(model.nv, 1.);
372
373	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data data(model), data_ref(model);
374
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::WORLD);
377	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
378	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	4	data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
379
380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeMinverse(model, data, q);
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data.Minv.triangularView<Eigen::StrictlyLower>() =
382	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.Minv.transpose().triangularView<Eigen::StrictlyLower>();
383
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385		2	}
386
387			BOOST_AUTO_TEST_SUITE_END()
388