GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	162	163	99.4%
Branches:	680	1354	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018-2021 INRIA
3			//
4
5			#include "pinocchio/algorithm/crba.hpp"
6			#include "pinocchio/algorithm/rnea.hpp"
7			#include "pinocchio/algorithm/centroidal.hpp"
8			#include "pinocchio/algorithm/centroidal-derivatives.hpp"
9			#include "pinocchio/algorithm/rnea-derivatives.hpp"
10			#include "pinocchio/algorithm/aba-derivatives.hpp"
11			#include "pinocchio/algorithm/jacobian.hpp"
12			#include "pinocchio/algorithm/center-of-mass.hpp"
13			#include "pinocchio/algorithm/joint-configuration.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			template<typename JointModel>
22		1	static void addJointAndBody(
23			pinocchio::Model & model,
24			const pinocchio::JointModelBase<JointModel> & joint,
25			const std::string & parent_name,
26			const std::string & name,
27			const pinocchio::SE3 placement = pinocchio::SE3::Random(),
28			bool setRandomLimits = true)
29			{
30			using namespace pinocchio;
31			typedef typename JointModel::ConfigVector_t CV;
32			typedef typename JointModel::TangentVector_t TV;
33
34			Model::JointIndex idx;
35
36	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	1	if (setRandomLimits)
37	21/42 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 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.	1	idx = model.addJoint(
38			model.getJointId(parent_name), joint, SE3::Random(), name + "_joint",
39			TV::Random() + TV::Constant(1), TV::Random() + TV::Constant(1),
40			CV::Random() - CV::Constant(1), CV::Random() + CV::Constant(1));
41			else
42		✗	idx = model.addJoint(model.getJointId(parent_name), joint, placement, name + "_joint");
43
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	model.addJointFrame(idx);
45
46	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity());
47	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	1	model.addBodyFrame(name + "_body", idx);
48		1	}
49
50			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
51
52	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_centroidal_derivatives)
53			{
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
56	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string parent_name = model.names.back();
57	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint_name = "ee_spherical_joint";
58	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	addJointAndBody(model, pinocchio::JointModelSpherical(), parent_name, joint_name);
59
60	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);
61
62	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.);
63	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.);
64
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = pinocchio::randomConfiguration(model);
66	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
67	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
68
69	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	pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv),
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dhdot_da(6, model.nv);
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeCentroidalDynamicsDerivatives(
72			model, data, q, v, a, dh_dq, dhdot_dq, dhdot_dv, dhdot_da);
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::ccrba(model, data_ref, q, v);
74
75	2/2 ✓ Branch 0 taken 29 times. ✓ Branch 1 taken 1 times.	60	for (size_t k = 0; k < (size_t)model.njoints; ++k)
76			{
77	7/14 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 29 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 29 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 29 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 29 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 29 times.	58	BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k]));
78	7/14 ✓ Branch 1 taken 29 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 29 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 29 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 29 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 29 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 29 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 29 times.	58	BOOST_CHECK(data.oYcrb[k].isApprox(data_ref.oYcrb[k]));
79			}
80	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(dhdot_da.isApprox(data_ref.Ag));
81
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeCentroidalMomentumTimeVariation(model, data_ref, q, v, a);
83	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t k = 1; k < (size_t)model.njoints; ++k)
84			{
85	7/14 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 28 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 28 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 28 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 28 times.	56	BOOST_CHECK(data.v[k].isApprox(data_ref.v[k]));
86	8/16 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 18 taken 28 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 28 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 28 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 28 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 28 times.	56	BOOST_CHECK(data.ov[k].isApprox(data.oMi[k].act(data_ref.v[k])));
87	8/16 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 18 taken 28 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 28 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 28 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 28 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 28 times.	56	BOOST_CHECK(data.oa[k].isApprox(data.oMi[k].act(data_ref.a[k])));
88	8/16 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 28 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 28 times. ✗ Branch 12 not taken. ✓ Branch 18 taken 28 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 28 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 28 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 28 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 28 times.	56	BOOST_CHECK(data.oh[k].isApprox(data.oMi[k].act(data_ref.h[k])));
89			}
90
91	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK(data.mass[0] == data_ref.mass[0]);
92	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.com[0].isApprox(data_ref.com[0]));
93
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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.oh[0].isApprox(data_ref.h[0]));
95	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.of[0].isApprox(data_ref.f[0]));
96
97	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.hg.isApprox(data_ref.hg));
98	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.dhg.isApprox(data_ref.dhg));
99	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.Ag.isApprox(data_ref.Ag));
100
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_fd(model);
102
103		2	const double eps = 1e-8;
104			const pinocchio::Force dhg =
105	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v, a);
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const pinocchio::Force hg = data_fd.hg;
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.hg.isApprox(data_ref.hg));
108
109			// Check dhdot_dq and dh_dq with finite differences
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq, 1);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd v_eps(model.nv, 1);
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_eps.setZero();
113	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data::Matrix6x dhdot_dq_fd(6, model.nv);
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data::Matrix6x dh_dq_fd(6, model.nv);
115
116	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
117			{
118	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_eps[k] = eps;
119	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	q_plus = pinocchio::integrate(model, q, v_eps);
120
121			const pinocchio::Force & dhg_plus =
122	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q_plus, v, a);
123	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	const pinocchio::Force hg_plus = data_fd.hg;
124	5/10 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 35 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 35 times. ✗ Branch 14 not taken.	70	dhdot_dq_fd.col(k) = (dhg_plus - dhg).toVector() / eps;
125	5/10 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 35 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 35 times. ✗ Branch 14 not taken.	70	dh_dq_fd.col(k) = (hg_plus - hg).toVector() / eps;
126	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_eps[k] = 0.;
127			}
128
129	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(dhdot_dq.isApprox(dhdot_dq_fd, sqrt(eps)));
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131			// Check dhdot_dv with finite differences
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd v_plus(v);
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data::Matrix6x dhdot_dv_fd(6, model.nv);
134
135	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
136			{
137	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_plus[k] += eps;
138
139			const pinocchio::Force & dhg_plus =
140	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v_plus, a);
141	5/10 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 35 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 35 times. ✗ Branch 14 not taken.	70	dhdot_dv_fd.col(k) = (dhg_plus - dhg).toVector() / eps;
142
143	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_plus[k] -= eps;
144			}
145
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147
148			// Check dhdot_da with finite differences
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd a_plus(a);
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data::Matrix6x dhdot_da_fd(6, model.nv);
151
152	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
153			{
154	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	a_plus[k] += eps;
155
156			const pinocchio::Force & dhg_plus =
157	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v, a_plus);
158	5/10 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 35 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 35 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 35 times. ✗ Branch 14 not taken.	70	dhdot_da_fd.col(k) = (dhg_plus - dhg).toVector() / eps;
159
160	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	a_plus[k] -= eps;
161			}
162
163	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(dhdot_da.isApprox(dhdot_da_fd, sqrt(eps)));
164
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeRNEADerivatives(model, data_ref, q, v, a);
166	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));
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170	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));
171
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeCentroidalMap(model, data_ref, q);
173	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.Ag.isApprox(data_ref.Ag));
174		2	}
175
176	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_retrieve_centroidal_derivatives_fromRNEA)
177			{
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
180	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);
181
182	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.);
183	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.);
184
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = pinocchio::randomConfiguration(model);
186	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
187	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
188
189	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	pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv),
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dhdot_da(6, model.nv);
191	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data::Matrix6x dh_dq_ref(6, model.nv), dhdot_dq_ref(6, model.nv),
192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dhdot_dv_ref(6, model.nv), dhdot_da_ref(6, model.nv);
193
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeCentroidalDynamicsDerivatives(
195			model, data_ref, q, v, a, dh_dq_ref, dhdot_dq_ref, dhdot_dv_ref, dhdot_da_ref);
196
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeRNEADerivatives(model, data, q, v, a);
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::getCentroidalDynamicsDerivatives(model, data, dh_dq, dhdot_dq, dhdot_dv, dhdot_da);
199
200	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));
201
202	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (pinocchio::Model::JointIndex k = 1; k < (pinocchio::Model::JointIndex)model.njoints; ++k)
203			{
204	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]));
205	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	pinocchio::Force force_ref = data_ref.of[k];
206	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	54	pinocchio::Force gravity_contribution = data.oYcrb[k] * (-model.gravity);
207	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	pinocchio::Force force = data.of[k] - gravity_contribution;
208	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 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 27 times.	54	BOOST_CHECK(force.isApprox(force_ref));
209			}
210
211	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.com[0].isApprox(data_ref.com[0]));
212
213	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.hg.isApprox(data_ref.hg));
214	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.dhg.isApprox(data_ref.dhg));
215
216	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(data.Fcrb[0].isApprox(data_ref.dFdq));
217	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.dFdv.isApprox(data_ref.dFdv));
218	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.dFda.isApprox(data_ref.dFda));
219	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(dh_dq.isApprox(dh_dq_ref));
220	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(dhdot_dq.isApprox(dhdot_dq_ref));
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 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(dhdot_dv.isApprox(dhdot_dv_ref));
222	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(dhdot_da.isApprox(dhdot_da_ref));
223		2	}
224
225	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_retrieve_centroidal_derivatives_fromABA)
226			{
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
229	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	pinocchio::Data data(model), data_ref(model), data_rnea(model);
230
231	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.);
232	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.);
233
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = pinocchio::randomConfiguration(model);
235	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
236	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
237
238	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	pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv),
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dhdot_da(6, model.nv);
240	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Data::Matrix6x dh_dq_ref(6, model.nv), dhdot_dq_ref(6, model.nv),
241	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dhdot_dv_ref(6, model.nv), dhdot_da_ref(6, model.nv);
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeCentroidalDynamicsDerivatives(
244			model, data_ref, q, v, a, dh_dq_ref, dhdot_dq_ref, dhdot_dv_ref, dhdot_da_ref);
245
246	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tau = rnea(model, data_rnea, q, v, a);
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeABADerivatives(model, data, q, v, tau);
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeRNEADerivatives(model, data_rnea, q, v, a);
249	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::getCentroidalDynamicsDerivatives(model, data, dh_dq, dhdot_dq, dhdot_dv, dhdot_da);
250
251	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));
252	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_rnea.dVdq));
253	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_rnea.dAdq));
254	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_rnea.dAdv));
255	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.dFdq.isApprox(data_rnea.dFdq));
256	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.dFdv.isApprox(data_rnea.dFdv));
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 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.dFda.isApprox(data_rnea.dFda));
258
259	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (pinocchio::Model::JointIndex k = 1; k < (pinocchio::Model::JointIndex)model.njoints; ++k)
260			{
261	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]));
262	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]));
263		54	const pinocchio::Force & force_ref = data_ref.of[k];
264	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken.	54	const pinocchio::Force gravity_contribution = data.oYcrb[k] * (-model.gravity);
265	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	const pinocchio::Force force = data.of[k] - gravity_contribution;
266	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 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 27 times.	54	BOOST_CHECK(force.isApprox(force_ref));
267			}
268
269	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.com[0].isApprox(data_ref.com[0]));
270
271	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.hg.isApprox(data_ref.hg));
272	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.dhg.isApprox(data_ref.dhg));
273
274	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(data.Fcrb[0].isApprox(data_ref.dFdq));
275	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.dFdv.isApprox(data_ref.dFdv));
276	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.dFda.isApprox(data_ref.dFda));
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 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(dh_dq.isApprox(dh_dq_ref));
278	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(dhdot_dq.isApprox(dhdot_dq_ref));
279	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(dhdot_dv.isApprox(dhdot_dv_ref));
280	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(dhdot_da.isApprox(dhdot_da_ref));
281		2	}
282
283			BOOST_AUTO_TEST_SUITE_END()
284