GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	385	385	100.0%
Branches:	1662	3296	50.4%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2021 CNRS INRIA
3			// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4			//
5
6			#include "pinocchio/spatial/explog.hpp"
7
8			#include <iostream>
9			#include <boost/test/unit_test.hpp>
10			#include <boost/utility/binary.hpp>
11
12			#include "utils/macros.hpp"
13
14			using namespace pinocchio;
15
16			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
17
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19			{
20	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
21	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
22	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v.linear().setZero();
23
24	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 R = exp3(v.angular());
25	13/26 ✓ 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 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 39 taken 1 times. ✗ Branch 40 not taken. ✗ Branch 44 not taken. ✓ Branch 45 taken 1 times.	2	BOOST_CHECK(
26			R.isApprox(Eigen::AngleAxis<double>(v.angular().norm(), v.angular().normalized()).matrix()));
27
28	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 R0 = exp3(SE3::Vector3::Zero());
29	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(R0.isIdentity());
30
31			// check the NAN case
32			#ifdef NDEBUG
33			Motion::Vector3 vec3_nan(Motion::Vector3::Constant(NAN));
34			SE3::Matrix3 R_nan = exp3(vec3_nan);
35			BOOST_CHECK(R_nan != R_nan);
36			#endif
37
38	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	M = exp6(v);
39
40	8/16 ✓ 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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(R.isApprox(M.rotation()));
41
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 7, 1> q0;
43	7/14 ✓ 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.	2	q0 << 0., 0., 0., 0., 0., 0., 1.;
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 7, 1> q = quaternion::exp6(v);
45	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Quaterniond quat0(q.tail<4>());
46	8/16 ✓ 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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(R.isApprox(quat0.matrix()));
47
48			// check the NAN case
49			#ifdef NDEBUG
50			Motion::Vector6 vec6_nan(Motion::Vector6::Constant(NAN));
51			SE3 M_nan = exp6(vec6_nan);
52			BOOST_CHECK(M_nan != M_nan);
53			#endif
54
55	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	R = exp3(SE3::Vector3::Zero());
56	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(R.isIdentity());
57
58			// Quaternion
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Quaterniond quat;
60	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	quaternion::exp3(v.angular(), quat);
61	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(quat.toRotationMatrix().isApprox(M.rotation()));
62
63	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	quaternion::exp3(SE3::Vector3::Zero(), quat);
64	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(quat.toRotationMatrix().isIdentity());
65	12/24 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 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 not taken. ✓ Branch 42 taken 1 times.	2	BOOST_CHECK(quat.vec().isZero() && quat.coeffs().tail<1>().isOnes());
66
67			// Check QuaternionMap
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector4d vec4;
69	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::QuaternionMapd quat_map(vec4.data());
70	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	quaternion::exp3(v.angular(), quat_map);
71	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(quat_map.toRotationMatrix().isApprox(M.rotation()));
72		2	}
73
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75			{
76	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3 M0, M1;
77	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 R0, R1;
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix3 R_normed;
79	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 Id(SE3::Matrix3::Identity());
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Vector3 vals;
81			double tr0, tr;
82		2	const size_t num_tries = 20;
83
84	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 1 times.	42	for (size_t i = 0; i < num_tries; i++)
85			{
86	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	M0.setRandom();
87	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	M1 = M0.actInv(M0);
88	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	R1 = M1.rotation();
89	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	R_normed = pinocchio::renormalize_rotation_matrix(R1);
90	9/18 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 20 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 20 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 20 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 20 times. ✗ Branch 18 not taken. ✓ Branch 21 taken 20 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 20 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 20 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 20 times.	40	BOOST_CHECK((R_normed.transpose() * R_normed).isApprox(Id));
91	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	tr0 = R1.trace();
92
93	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	40	tr = R_normed.trace();
94	6/12 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 20 times. ✗ Branch 17 not taken.	40	vals = 2. * R_normed.diagonal().array() - tr + 1.;
95			}
96		2	}
97
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99			{
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Identity());
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
102	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v.linear().setZero();
103
104	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Vector3 omega = log3(M.rotation());
105	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(omega.isZero());
106
107			// check the NAN case
108			#ifdef NDEBUG
109			SE3::Matrix3 mat3_nan(SE3::Matrix3::Constant(NAN));
110			SE3::Vector3 omega_nan = log3(mat3_nan);
111			BOOST_CHECK(omega_nan != omega_nan);
112			#endif
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	M.setRandom();
115	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	M.translation().setZero();
116
117	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v = log6(M);
118	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	omega = log3(M.rotation());
119	8/16 ✓ 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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(omega.isApprox(v.angular()));
120
121			// check the NAN case
122			#ifdef NDEBUG
123			SE3::Matrix4 mat4_nan(SE3::Matrix4::Constant(NAN));
124			Motion::Vector6 v_nan = log6(mat4_nan);
125			BOOST_CHECK(v_nan != v_nan);
126			#endif
127
128			// Quaternion
129	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Quaterniond quat(SE3::Matrix3::Identity());
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	omega = quaternion::log3(quat);
131	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(omega.isZero());
132
133	2/2 ✓ Branch 0 taken 1000 times. ✓ Branch 1 taken 1 times.	2002	for (int k = 0; k < 1e3; ++k)
134			{
135	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	SE3::Vector3 w;
136	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	w.setRandom();
137	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	quaternion::exp3(w, quat);
138	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	SE3::Matrix3 rot = exp3(w);
139
140	8/16 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1000 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1000 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1000 times.	2000	BOOST_CHECK(quat.toRotationMatrix().isApprox(rot));
141			double theta;
142	1/2 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken.	2000	omega = quaternion::log3(quat, theta);
143		2000	const double PI_value = PI<double>();
144	7/14 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1000 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1000 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1000 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1000 times.	2000	BOOST_CHECK(omega.norm() <= PI_value);
145			double theta_ref;
146	2/4 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1000 times. ✗ Branch 5 not taken.	2000	SE3::Vector3 omega_ref = log3(quat.toRotationMatrix(), theta_ref);
147
148	7/14 ✓ Branch 1 taken 1000 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1000 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1000 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1000 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1000 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1000 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1000 times.	2000	BOOST_CHECK(omega.isApprox(omega_ref));
149			}
150
151			// Check QuaternionMap
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector4d vec4;
153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::QuaternionMapd quat_map(vec4.data());
154	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	quat_map = SE3::Random().rotation();
155	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(quaternion::log3(quat_map).isApprox(log3(quat_map.toRotationMatrix())));
156		2	}
157
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159			{
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
161	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	SE3::Matrix3 M_res = exp3(log3(M.rotation()));
162	8/16 ✓ 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 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(M_res.isApprox(M.rotation()));
163
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector3 v;
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom();
166	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion::Vector3 v_res = log3(exp3(v));
167	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(v_res.isApprox(v));
168		2	}
169
170	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(explog3_quaternion)
171			{
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Quaterniond quat;
174	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	quat = M.rotation();
175	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Quaterniond quat_res;
176	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	quaternion::exp3(quaternion::log3(quat), quat_res);
177	11/22 ✓ 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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 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 39 not taken. ✓ Branch 40 taken 1 times.	2	BOOST_CHECK(quat_res.isApprox(quat) \|\| quat_res.coeffs().isApprox(-quat.coeffs()));
178
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector3 v;
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom();
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::exp3(v, quat);
182	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(quaternion::log3(quat).isApprox(v));
183
184	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	SE3::Matrix3 R_next = M.rotation() * exp3(v);
185	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	Motion::Vector3 v_est = log3(M.rotation().transpose() * R_next);
186	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(v_est.isApprox(v));
187
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion quat_v;
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::exp3(v, quat_v);
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion quat_next = quat * quat_v;
191	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	v_est = quaternion::log3(quat.conjugate() * quat_next);
192	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(v_est.isApprox(v));
193		2	}
194
195	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(Jlog3_fd)
196			{
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
198	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 R(M.rotation());
199
200			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
201			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
202	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 Jfd, Jlog;
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog3(R, Jlog);
204			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jfd.setZero();
206
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector3 dR;
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dR.setZero();
209		2	const double eps = 1e-8;
210	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i)
211			{
212	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dR[i] = eps;
213	3/6 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken.	6	SE3::Matrix3 R_dR_plus = R * exp3(dR);
214	4/8 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken.	6	SE3::Matrix3 R_dR_minus = R * exp3(-dR);
215	6/12 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 3 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 3 times. ✗ Branch 17 not taken.	6	Jfd.col(i) = (log3(R_dR_plus) - log3(R_dR_minus)) / (2 * eps);
216	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dR[i] = 0;
217			}
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(Jfd.isApprox(Jlog, std::sqrt(eps)));
219		2	}
220
221	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(Jexp3_fd)
222			{
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
224	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 R(M.rotation());
225
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector3 v = log3(R);
227
228			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
229			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
230	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 Jexp_fd, Jexp;
231
232	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Jexp3(Motion::Vector3::Zero(), Jexp);
233	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(Jexp.isIdentity());
234
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp3(v, Jexp);
236			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
237
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector3 dv;
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dv.setZero();
240		2	const double eps = 1e-3;
241	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i)
242			{
243	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dv[i] = eps;
244	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	SE3::Matrix3 R_next = exp3(v + dv);
245	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	SE3::Matrix3 R_prev = exp3(v - dv);
246	3/6 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken.	6	SE3::Matrix3 Rpn = R_prev.transpose() * R_next;
247	4/8 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken.	6	Jexp_fd.col(i) = log3(Rpn) / (2. * eps);
248	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dv[i] = 0;
249			}
250	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(Jexp_fd.isApprox(Jexp, std::sqrt(eps)));
251		2	}
252
253			template<typename QuaternionLike, typename Matrix43Like>
254		2	void Jexp3QuatLocal(
255			const Eigen::QuaternionBase<QuaternionLike> & quat, const Eigen::MatrixBase<Matrix43Like> & Jexp)
256			{
257		2	Matrix43Like & Jout = PINOCCHIO_EIGEN_CONST_CAST(Matrix43Like, Jexp);
258
259	3/6 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken.	2	skew(0.5 * quat.vec(), Jout.template topRows<3>());
260	4/8 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken.	2	Jout.template topRows<3>().diagonal().array() += 0.5 * quat.w();
261	4/8 ✓ Branch 2 taken 2 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 2 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 2 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 2 times. ✗ Branch 12 not taken.	2	Jout.template bottomRows<1>() = -0.5 * quat.vec().transpose();
262		2	}
263
264	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(Jexp3_quat_fd)
265			{
266			typedef double Scalar;
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Vector3 w;
268	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	w.setRandom();
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion quat;
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::exp3(w, quat);
271
272			typedef Eigen::Matrix<Scalar, 4, 3> Matrix43;
273			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
274			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
275	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix43 Jexp3, Jexp3_fd;
276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::Jexp3CoeffWise(w, Jexp3);
277			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Vector3 dw;
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dw.setZero();
280		2	const double eps = 1e-8;
281
282	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i)
283			{
284	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dw[i] = eps;
285	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	SE3::Quaternion quat_plus;
286	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	quaternion::exp3(w + dw, quat_plus);
287	4/8 ✓ Branch 3 taken 3 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 3 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 3 times. ✗ Branch 13 not taken.	6	Jexp3_fd.col(i) = (quat_plus.coeffs() - quat.coeffs()) / eps;
288	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dw[i] = 0;
289			}
290	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(Jexp3.isApprox(Jexp3_fd, sqrt(eps)));
291
292			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
293			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix3 Jlog;
295	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Jlog3(quat.toRotationMatrix(), Jlog);
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix43 Jexp_quat_local;
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp3QuatLocal(quat, Jexp_quat_local);
299			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
300
301	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix43 Jcompositon = Jexp3 * Jlog;
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(Jcompositon.isApprox(Jexp_quat_local));
303			// std::cout << "Jcompositon\n" << Jcompositon << std::endl;
304			// std::cout << "Jexp_quat_local\n" << Jexp_quat_local << std::endl;
305
306			// Arount zero
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	w.setZero();
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	w.fill(1e-6);
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::exp3(w, quat);
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::Jexp3CoeffWise(w, Jexp3);
311	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int i = 0; i < 3; ++i)
312			{
313	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dw[i] = eps;
314	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	SE3::Quaternion quat_plus;
315	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	quaternion::exp3(w + dw, quat_plus);
316	4/8 ✓ Branch 3 taken 3 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 3 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 3 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 3 times. ✗ Branch 13 not taken.	6	Jexp3_fd.col(i) = (quat_plus.coeffs() - quat.coeffs()) / eps;
317	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	dw[i] = 0;
318			}
319	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(Jexp3.isApprox(Jexp3_fd, sqrt(eps)));
320		2	}
321
322	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(Jexp3_quat)
323			{
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
325	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Quaternion quat(M.rotation());
326
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion dv(Motion::Zero());
328		2	const double eps = 1e-8;
329
330			typedef Eigen::Matrix<double, 7, 6> Matrix76;
331	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Matrix76 Jexp6_fd, Jexp6_quat;
332	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp6_quat.setZero();
333			typedef Eigen::Matrix<double, 4, 3> Matrix43;
334			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
335			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix43 Jexp3_quat;
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp3QuatLocal(quat, Jexp3_quat);
338			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
339	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M_next;
340
341	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	Jexp6_quat.middleRows<3>(Motion::LINEAR).middleCols<3>(Motion::LINEAR) = M.rotation();
342	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Jexp6_quat.middleRows<4>(Motion::ANGULAR).middleCols<3>(Motion::ANGULAR) =
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp3_quat; // * Jlog6_SE3.middleRows<3>(Motion::ANGULAR);
344	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < 6; ++i)
345			{
346	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dv.toVector()[i] = eps;
347	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	M_next = M * exp6(dv);
348	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	const SE3::Quaternion quat_next(M_next.rotation());
349	7/14 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken.	12	Jexp6_fd.middleRows<3>(Motion::LINEAR).col(i) = (M_next.translation() - M.translation()) / eps;
350	5/10 ✓ Branch 3 taken 6 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 6 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 6 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 6 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 6 times. ✗ Branch 16 not taken.	12	Jexp6_fd.middleRows<4>(Motion::ANGULAR).col(i) = (quat_next.coeffs() - quat.coeffs()) / eps;
351	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dv.toVector()[i] = 0.;
352			}
353
354	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(Jexp6_quat.isApprox(Jexp6_fd, sqrt(eps)));
355		2	}
356
357	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(Jexplog3)
358			{
359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
360
361			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
362			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
363	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	Eigen::Matrix3d R(exp3(v.angular())), Jexp, Jlog;
364	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Jexp3(v.angular(), Jexp);
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog3(R, Jlog);
366			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
367
368	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((Jlog * Jexp).isIdentity());
369
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
371	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	R = M.rotation();
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	v.angular() = log3(R);
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog3(R, Jlog);
374	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Jexp3(v.angular(), Jexp);
375
376	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((Jexp * Jlog).isIdentity());
377		2	}
378
379	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(Jlog3_quat)
380			{
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Vector3 w;
382	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	w.setRandom();
383	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion quat;
384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::exp3(w, quat);
385
386	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix3 R(quat.toRotationMatrix());
387
388			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
389			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
390	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix3 res, res_ref;
391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::Jlog3(quat, res);
392	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog3(R, res_ref);
393			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
394
395	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(res.isApprox(res_ref));
396		2	}
397
398	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(explog6)
399			{
400	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
401	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3 M_res = exp6(log6(M));
402	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(M_res.isApprox(M));
403
404	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
405	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion v_res = log6(exp6(v));
406	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(v_res.toVector().isApprox(v.toVector()));
407		2	}
408
409	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(Jlog6_fd)
410			{
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
412
413			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
414			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
415	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix6 Jfd, Jlog;
416	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog6(M, Jlog);
417			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jfd.setZero();
419
420	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion dM;
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dM.setZero();
422		2	double step = 1e-8;
423	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < 6; ++i)
424			{
425	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dM.toVector()[i] = step;
426	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	SE3 M_dM = M * exp6(dM);
427	8/16 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken.	12	Jfd.col(i) = (log6(M_dM).toVector() - log6(M).toVector()) / step;
428	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dM.toVector()[i] = 0;
429			}
430
431	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(Jfd.isApprox(Jlog, sqrt(step)));
432
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix6 Jlog2 = Jlog6(M);
434	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(Jlog2.isApprox(Jlog));
435		2	}
436
437	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(Jlog6_singular)
438			{
439	2/2 ✓ Branch 0 taken 15 times. ✓ Branch 1 taken 1 times.	32	for (size_t i = 0; i < 15; i++)
440			{
441	1/2 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken.	30	SE3 M0;
442	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 14 times.	30	if (i == 0)
443			{
444	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	M0 = SE3::Identity();
445			}
446			else
447			{
448	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	28	M0 = SE3::Random();
449			}
450	1/2 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken.	30	SE3 dM(M0.actInv(M0));
451
452	8/16 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 15 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 15 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 15 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 15 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 15 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 15 times.	30	BOOST_CHECK(dM.isApprox(SE3::Identity()));
453	2/4 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 15 times. ✗ Branch 5 not taken.	30	SE3::Matrix6 J0(SE3::Matrix6::Identity());
454
455	1/2 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken.	30	SE3::Matrix6 J_val = Jlog6(dM);
456	7/14 ✓ Branch 1 taken 15 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 15 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 15 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 15 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 15 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 15 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 15 times.	30	BOOST_CHECK(J0.isApprox(J_val));
457			}
458		2	}
459
460	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(Jexp6_fd)
461			{
462	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
463
464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion v = log6(M);
465
466	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3::Matrix6 Jexp_fd, Jexp;
467
468	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Jexp6(Motion::Zero(), Jexp);
469	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(Jexp.isIdentity());
470
471	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp6(v, Jexp);
472
473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion::Vector6 dv;
474	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dv.setZero();
475		2	const double eps = 1e-8;
476	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < 6; ++i)
477			{
478	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	dv[i] = eps;
479	3/6 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken.	12	SE3 M_next = exp6(v + Motion(dv));
480	6/12 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken.	12	Jexp_fd.col(i) = log6(M.actInv(M_next)).toVector() / eps;
481	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	dv[i] = 0;
482			}
483	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(Jexp_fd.isApprox(Jexp, std::sqrt(eps)));
484
485	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Matrix6 Jexp2 = Jexp6(v);
486	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(Jexp2.isApprox(Jexp));
487		2	}
488
489	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(Jlog6_of_product_fd)
490			{
491	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 Ma(SE3::Random());
492	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 Mb(SE3::Random());
493
494			PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
495			PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
496	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	2	SE3::Matrix6 Jlog, Ja, Jb, Jfda, Jfdb;
497	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	Jlog6(Ma.inverse() * Mb, Jlog);
498			PINOCCHIO_COMPILER_DIAGNOSTIC_POP
499	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	Ja = -Jlog * (Ma.inverse() * Mb).toActionMatrixInverse();
500	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jb = Jlog;
501	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jfda.setZero();
502	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jfdb.setZero();
503
504	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion dM;
505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dM.setZero();
506		2	double step = 1e-8;
507	2/2 ✓ Branch 0 taken 6 times. ✓ Branch 1 taken 1 times.	14	for (int i = 0; i < 6; ++i)
508			{
509	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dM.toVector()[i] = step;
510	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Jfda.col(i) =
511	13/26 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 6 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 6 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 6 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 6 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 6 times. ✗ Branch 38 not taken.	24	(log6((Ma * exp6(dM)).inverse() * Mb).toVector() - log6(Ma.inverse() * Mb).toVector()) / step;
512	1/2 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken.	12	Jfdb.col(i) =
513	13/26 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 6 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 6 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 6 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 6 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 6 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 6 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 6 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 6 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 6 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 6 times. ✗ Branch 38 not taken.	24	(log6(Ma.inverse() * Mb * exp6(dM)).toVector() - log6(Ma.inverse() * Mb).toVector()) / step;
514	2/4 ✓ Branch 1 taken 6 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6 times. ✗ Branch 5 not taken.	12	dM.toVector()[i] = 0;
515			}
516
517	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(Jfda.isApprox(Ja, sqrt(step)));
518	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(Jfdb.isApprox(Jb, sqrt(step)));
519		2	}
520
521	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(Jexplog6)
522			{
523	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
524
525	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(exp6(v));
526			{
527	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<double, 6, 6, Eigen::RowMajor> Jexp, Jlog;
528	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp6(v, Jexp);
529	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog6(M, Jlog);
530
531	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((Jlog * Jexp).isIdentity());
532			}
533
534	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	M.setRandom();
535
536	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v = log6(M);
537			{
538	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::Matrix<double, 6, 6> Jexp, Jlog;
539	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jlog6(M, Jlog);
540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jexp6(v, Jexp);
541
542	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK((Jexp * Jlog).isIdentity());
543			}
544		2	}
545
546	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(Hlog3_fd)
547			{
548			typedef SE3::Vector3 Vector3;
549			typedef SE3::Matrix3 Matrix3;
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3::Quaternion q;
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	quaternion::uniformRandom(q);
552	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 R(q.matrix());
553
554			// Hlog3(R, v) returns the matrix H * v
555			// We check that H * e_k matches the finite difference of Hlog3(R, e_k)
556	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 dR;
557	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dR.setZero();
558		2	double step = 1e-8;
559	2/2 ✓ Branch 0 taken 3 times. ✓ Branch 1 taken 1 times.	8	for (int k = 0; k < 3; ++k)
560			{
561	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	Vector3 e_k(Vector3::Zero());
562	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	e_k[k] = 1.;
563
564	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	Matrix3 Hlog_e_k;
565	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	Hlog3(R, e_k, Hlog_e_k);
566
567	4/8 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 3 times. ✗ Branch 11 not taken.	6	Matrix3 R_dR = R * exp3(step * e_k);
568	2/4 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken.	6	Matrix3 Jlog_R, Jlog_R_dR;
569	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	Jlog3(R, Jlog_R);
570	1/2 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken.	6	Jlog3(R_dR, Jlog_R_dR);
571
572	3/6 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 3 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 3 times. ✗ Branch 8 not taken.	6	Matrix3 Hlog_e_k_fd = (Jlog_R_dR - Jlog_R) / step;
573
574	7/14 ✓ Branch 1 taken 3 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 3 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 3 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 3 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 3 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 3 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 3 times.	6	BOOST_CHECK(Hlog_e_k.isApprox(Hlog_e_k_fd, sqrt(step)));
575			}
576		2	}
577
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579			{
580			typedef pinocchio::SE3::Vector3 Vector3;
581			typedef pinocchio::SE3::Matrix3 Matrix3;
582			typedef Eigen::Matrix4d Matrix4;
583			typedef pinocchio::Motion::Vector6 Vector6;
584
585		2	const double EPSILON = 1e-12;
586
587			// exp3 and log3.
588	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 v3(Vector3::Random());
589	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix3 R(pinocchio::exp3(v3));
590	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(R.transpose().isApprox(R.inverse(), EPSILON));
591	6/12 ✓ 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 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✓ Branch 21 taken 1 times.	2	BOOST_CHECK_SMALL(R.determinant() - 1.0, EPSILON);
592	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 v3FromLog(pinocchio::log3(R));
593	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(v3.isApprox(v3FromLog, EPSILON));
594
595			// exp6 and log6.
596	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Motion nu = pinocchio::Motion::Random();
597	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::SE3 m = pinocchio::exp6(nu);
598	11/22 ✓ 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(m.rotation().transpose().isApprox(m.rotation().inverse(), EPSILON));
599	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_SMALL(m.rotation().determinant() - 1.0, EPSILON);
600	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Motion nuFromLog(pinocchio::log6(m));
601	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(nu.linear().isApprox(nuFromLog.linear(), EPSILON));
602	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(nu.angular().isApprox(nuFromLog.angular(), EPSILON));
603
604	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector6 v6(Vector6::Random());
605	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::SE3 m2(pinocchio::exp6(v6));
606	11/22 ✓ 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 29 taken 1 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 1 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 1 times.	2	BOOST_CHECK(m2.rotation().transpose().isApprox(m2.rotation().inverse(), EPSILON));
607	7/14 ✓ 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 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK_SMALL(m2.rotation().determinant() - 1.0, EPSILON);
608	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Matrix4 M = m2.toHomogeneousMatrix();
609	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Motion nu2FromLog(pinocchio::log6(M));
610	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector6 v6FromLog(nu2FromLog.toVector());
611	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(v6.isApprox(v6FromLog, EPSILON));
612		2	}
613
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615			{
616	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 A = SE3::Random();
617	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 B = SE3::Random();
618
619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 A_bis = SE3::Interpolate(A, B, 0.);
620	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(A_bis.isApprox(A));
621	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 B_bis = SE3::Interpolate(A, B, 1.);
622	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(B_bis.isApprox(B));
623
624	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	A_bis = SE3::Interpolate(A, A, 1.);
625	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(A_bis.isApprox(A));
626
627	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	B_bis = SE3::Interpolate(B, B, 1.);
628	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(B_bis.isApprox(B));
629
630	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 C = SE3::Interpolate(A, B, 0.5);
631	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 D = SE3::Interpolate(B, A, 0.5);
632	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(D.isApprox(C));
633		2	}
634
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636			{
637		2	const int num_tests = 1e1;
638	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (int k = 0; k < num_tests; ++k)
639			{
640	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	const SE3 M = SE3::Random();
641	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	SE3::Matrix6 res = Jlog6(M.actInv(M));
642
643	7/14 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 10 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 10 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 10 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 10 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 10 times.	20	BOOST_CHECK(res.isIdentity());
644			}
645		2	}
646
647			BOOST_AUTO_TEST_SUITE_END()
648