GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	245	246	99.6%
Branches:	846	1690	50.1%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2019 CNRS INRIA
3			//
4
5			#include "pinocchio/algorithm/crba.hpp"
6			#include "pinocchio/algorithm/centroidal.hpp"
7			#include "pinocchio/algorithm/rnea.hpp"
8			#include "pinocchio/algorithm/jacobian.hpp"
9			#include "pinocchio/algorithm/center-of-mass.hpp"
10			#include "pinocchio/algorithm/joint-configuration.hpp"
11
12			#include "pinocchio/multibody/sample-models.hpp"
13
14			#include "pinocchio/utils/timer.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		2	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 2 times. ✗ Branch 1 not taken.	2	if (setRandomLimits)
37	21/42 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 2 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 2 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 2 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 2 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 2 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 2 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 2 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 2 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 2 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 2 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 2 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 2 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 2 times. ✗ Branch 50 not taken. ✓ Branch 52 taken 2 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 2 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 2 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 2 times. ✗ Branch 62 not taken.	2	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 2 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
45
46	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity());
47	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	model.addBodyFrame(name + "_body", idx);
48		2	}
49
50			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
51
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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	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);
57
58	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.);
59	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.);
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
61	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::Ones(model.nv);
62
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
65	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>();
66
67	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	data_ref.Ycrb[0] = data_ref.liMi[1].act(data_ref.Ycrb[1]);
68
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref_other(model);
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref_other, q, pinocchio::Convention::WORLD);
71	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref_other.M.triangularView<Eigen::StrictlyLower>() =
72	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_other.M.transpose().triangularView<Eigen::StrictlyLower>();
73	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_ref_other.M.isApprox(data_ref.M));
74
75	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	pinocchio::SE3 cMo(pinocchio::SE3::Matrix3::Identity(), -data_ref.Ycrb[0].lever());
76	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_ref.Ycrb[0].isApprox(data_ref_other.oYcrb[0]));
77
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data, q, v);
79	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 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 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.com[0].isApprox(-cMo.translation(), 1e-12));
80	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 15 taken 1 times. ✗ Branch 16 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(data.oYcrb[0].matrix().isApprox(data_ref.Ycrb[0].matrix(), 1e-12));
81
82	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::Inertia Ig_ref(cMo.act(data.oYcrb[0]));
83	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(data.Ig.matrix().isApprox(Ig_ref.matrix(), 1e-12));
84
85	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::SE3 oM1(data_ref.liMi[1]);
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::SE3 cM1(cMo * oM1);
87
88			pinocchio::Data::Matrix6x Ag_ref(
89	6/12 ✓ 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.	2	cM1.inverse().toActionMatrix().transpose() * data_ref.M.topRows<6>());
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91		2	}
92
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94			{
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
97	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);
98
99	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.);
100	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.);
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
102	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::Zero(model.nv);
103
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMap(model, data, q);
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
106
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.J.isApprox(data_ref.J));
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.Ag.isApprox(data_ref.Ag));
109
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
111
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113		2	}
114
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116			{
117			using namespace pinocchio;
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
120	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	addJointAndBody(model, JointModelSpherical(), "larm6_joint", "larm7");
121	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);
122
123	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.);
124	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.);
125
126			Eigen::VectorXd q =
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit);
128	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);
129	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);
130
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132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a);
133
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	data_ref.M.triangularView<Eigen::StrictlyLower>() =
136	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>();
137
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 cMo(SE3::Identity());
139	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	data_ref.Ycrb[0] = data_ref.liMi[1].act(data_ref.Ycrb[1]);
140	3/6 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	cMo.translation() = -data_ref.Ycrb[0].lever();
141
142	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 oM1(data_ref.liMi[1]);
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 cM1(cMo * oM1);
144	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	Data::Matrix6x Ag_ref(cM1.toDualActionMatrix() * data_ref.M.topRows<6>());
145
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147
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
150	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(Ag_ref));
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153
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	centerOfMass(model, data_ref, q, v, a);
155	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 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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(data_ref.com[0].isApprox(data_ref.Ycrb[0].lever()));
156	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(data_ref.vcom[0].isApprox(data.hg.linear() / data_ref.M(0, 0)));
157	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_ref.vcom[0].isApprox(data.vcom[0]));
158	10/20 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(data_ref.acom[0].isApprox(hdot_ref.linear() / data_ref.M(0, 0)));
159
160	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	Force hdot(data.Ag * a + data.dAg * v);
161	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(hdot.isApprox(hdot_ref));
162
163	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dccrba(model, data, q, 0 * v);
164	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.dAg.isZero());
165
166			// Check that dYcrb is equal to doYcrb
167			{
168			// Compute dYcrb
169	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	Data data_ref(model), data_ref_plus(model), data(model);
170
171		2	const double alpha = 1e-8;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
174
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref_plus, q_plus, pinocchio::Convention::LOCAL);
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref_plus, q_plus);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
180
181	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t i = 1; i < (size_t)model.njoints; ++i)
182			{
183	2/4 ✓ Branch 3 taken 28 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 28 times. ✗ Branch 7 not taken.	56	Inertia::Matrix6 dYcrb = (data_ref_plus.oMi[i].act(data_ref_plus.Ycrb[i]).matrix()
184	3/6 ✓ Branch 3 taken 28 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 28 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 28 times. ✗ Branch 10 not taken.	112	- data_ref.oMi[i].act(data_ref.Ycrb[i]).matrix())
185	2/4 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 28 times. ✗ Branch 5 not taken.	56	/ alpha;
186	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 15 taken 28 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 28 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 28 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 28 times.	56	BOOST_CHECK(data.doYcrb[i].isApprox(dYcrb, sqrt(alpha)));
187			}
188		2	}
189
190			{
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref(SE3::Identity());
194	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref.translation() = data_ref.com[0];
195	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x Ag_ref = oMc_ref.toDualActionMatrix() * data_ref.Ag;
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
197			const Data::Matrix6x Ag_ref_from_M =
198	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	data_ref.oMi[1].toDualActionMatrix() * data_ref.M.topRows<6>();
199
200		2	const double alpha = 1e-8;
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q_plus, v);
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref_plus(SE3::Identity());
205	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref_plus.translation() = data_ref.com[0];
206	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x Ag_plus_ref = oMc_ref_plus.toDualActionMatrix() * data_ref.Ag;
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::crba(model, data_ref, q_plus, pinocchio::Convention::LOCAL);
208			const Data::Matrix6x Ag_plus_ref_from_M =
209	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	data_ref.oMi[1].toDualActionMatrix() * data_ref.M.topRows<6>();
210	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x dAg_ref = (Ag_plus_ref - Ag_ref) / alpha;
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	const Data::Matrix6x dAg_ref_from_M = (Ag_plus_ref_from_M - Ag_ref_from_M) / alpha;
212
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc(SE3::Identity());
215	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc.translation() = data.com[0];
216	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	Data::Matrix6x dAg = oMc.toDualActionMatrix() * data.dAg;
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(oMc.isApprox(oMc_ref));
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 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(dAg_ref.isApprox(dAg_ref_from_M, sqrt(alpha)));
219		2	}
220
221			// Check for dAg/dt
222			{
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Data::Matrix6x Ag_ref = data_ref.Ag;
226
227		2	const double alpha = 1e-8;
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
229	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q_plus, v);
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Data::Matrix6x Ag_plus_ref = data_ref.Ag;
232	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	const Data::Matrix6x dAg_ref = (Ag_plus_ref - Ag_ref) / alpha;
233
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data, q, v);
235	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.dAg.isApprox(dAg_ref, sqrt(alpha)));
236		2	}
237
238			// Compute tensor dAg/dq
239			{
240	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Data::Matrix6x> dAgdq((size_t)model.nv, Data::Matrix6x::Zero(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	Data data(model), data_fd(model);
242	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v_fd(Eigen::VectorXd::Zero(model.nv));
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_fd, q, v);
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 oMc_ref(SE3::Identity());
245	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	oMc_ref.translation() = data_fd.com[0];
246
247	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	Data::Matrix6x Ag0 = oMc_ref.toDualActionMatrix() * data_fd.Ag;
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Force hg0 = oMc_ref.act(data_fd.hg);
249
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Ag_fd(6, model.nv);
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force hg_fd;
252		2	const double alpha = 1e-8;
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dhdq(6, model.nv);
255	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (int k = 0; k < model.nv; ++k)
256			{
257	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_fd[k] = alpha;
258	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	q_plus = integrate(model, q, v_fd);
259	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	ccrba(model, data_fd, q_plus, v);
260	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	SE3 oMc_fd(SE3::Identity());
261	2/4 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken.	70	oMc_fd.translation() = data_fd.com[0];
262	3/6 ✓ 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.	70	Ag_fd = oMc_fd.toDualActionMatrix() * data_fd.Ag;
263	2/4 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken.	70	hg_fd = oMc_fd.act(data_fd.hg);
264	3/6 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 35 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 35 times. ✗ Branch 9 not taken.	70	dAgdq[(size_t)k] = (Ag_fd - Ag0) / alpha;
265	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	dhdq.col(k) = (hg_fd - hg0).toVector() / alpha;
266	1/2 ✓ Branch 1 taken 35 times. ✗ Branch 2 not taken.	70	v_fd[k] = 0.;
267			}
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dAg_ref(6, model.nv);
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dAg_ref.setZero();
271	2/2 ✓ Branch 0 taken 35 times. ✓ Branch 1 taken 1 times.	72	for (int k = 0; k < model.nv; ++k)
272			{
273	3/6 ✓ Branch 2 taken 35 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 35 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 35 times. ✗ Branch 9 not taken.	70	dAg_ref.col(k) = dAgdq[(size_t)k] * v;
274			}
275
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 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(dhdq.isApprox(dAg_ref, sqrt(alpha)));
277	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK((dAg_ref * v).isApprox(dhdq * v, sqrt(alpha)));
278		2	}
279		2	}
280
281	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_mapping_time_derivative)
282			{
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
285	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);
286
287	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.);
288	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.);
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q = randomConfiguration(model);
290	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::Zero(model.nv);
291
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMapTimeVariation(model, data, q, v);
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data_ref, q, v);
294
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.J.isApprox(data_ref.J));
296	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));
297	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));
298	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.dAg.isApprox(data_ref.dAg));
299
300	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data_ref, q, v);
301
302	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));
303	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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));
304		2	}
305
306	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_computeCentroidalMomentum_computeCentroidalMomentumTimeVariation)
307			{
308			using namespace pinocchio;
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
311	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	2	addJointAndBody(model, JointModelSpherical(), "larm6_joint", "larm7");
312	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	Data data(model), data_fk1(model), data_fk2(model), data_ref(model);
313
314	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.);
315	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.);
316
317			Eigen::VectorXd q =
318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit);
319	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);
320	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);
321
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ccrba(model, data_ref, q, v);
323	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v);
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	centerOfMass(model, data_ref, q, v, false);
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentum(model, data, q, v);
326
327	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]);
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 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]));
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(data.hg.isApprox(data_ref.hg));
330	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t k = 1; k < (size_t)model.njoints; ++k)
331			{
332	6/12 ✓ 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 16 taken 28 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 28 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28 times.	56	BOOST_CHECK(data.mass[k] == data_ref.mass[k]);
333	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.com[k].isApprox(data_ref.com[k]));
334	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]));
335			}
336
337			// Check other signature
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_fk1, q, v);
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentum(model, data_fk1);
340
341	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_fk1.hg.isApprox(data.hg));
342
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentumTimeVariation(model, data, q, v, a);
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.gravity.setZero();
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data_ref, q, v, a);
346	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dccrba(model, data_ref, q, v);
347	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	const Force hgdot(data_ref.Ag * a + data_ref.dAg * v);
348
349	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]);
350	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]));
351	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));
352	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(hgdot));
353	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 1 times.	58	for (size_t k = 1; k < (size_t)model.njoints; ++k)
354			{
355	6/12 ✓ 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 16 taken 28 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 28 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 28 times.	56	BOOST_CHECK(data.mass[k] == data_ref.mass[k]);
356	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.com[k].isApprox(data_ref.com[k]));
357	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]));
358	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.a[k].isApprox(data_ref.a_gf[k]));
359	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.f[k].isApprox(data_ref.f[k]));
360			}
361
362			// Check other signature
363	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_fk2, q, v, a);
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeCentroidalMomentumTimeVariation(model, data_fk2);
365
366	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_fk2.hg.isApprox(data.hg));
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_fk2.dhg.isApprox(data.dhg));
368
369			// Check against finite differences
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fd(model);
371		2	const double eps = 1e-8;
372	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Eigen::VectorXd v_plus = v + eps * a;
373	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q_plus = integrate(model, q, eps * v);
374
375	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Force hg = computeCentroidalMomentum(model, data_fd, q, v);
376	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const SE3::Vector3 com = data_fd.com[0];
377	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	const Force hg_plus = computeCentroidalMomentum(model, data_fd, q_plus, v_plus);
378	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const SE3::Vector3 com_plus = data_fd.com[0];
379
380	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 transform(SE3::Identity());
381	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	transform.translation() = com_plus - com;
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.	2	Force dhg_ref = (transform.act(hg_plus) - hg) / eps;
383
384	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.dhg.isApprox(dhg_ref, sqrt(eps)));
385		2	}
386
387			BOOST_AUTO_TEST_SUITE_END()
388