GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	469	469	100.0%
Branches:	1604	3246	49.4%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2024 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/model.hpp"
8			#include "pinocchio/algorithm/jacobian.hpp"
9			#include "pinocchio/algorithm/frames.hpp"
10			#include "pinocchio/algorithm/rnea.hpp"
11			#include "pinocchio/algorithm/crba.hpp"
12			#include "pinocchio/spatial/act-on-set.hpp"
13			#include "pinocchio/multibody/sample-models.hpp"
14			#include "pinocchio/utils/timer.hpp"
15			#include "pinocchio/algorithm/joint-configuration.hpp"
16
17			#include <iostream>
18
19			#include <boost/test/unit_test.hpp>
20			#include <boost/utility/binary.hpp>
21
22			template<typename Derived>
23		1	inline bool isFinite(const Eigen::MatrixBase<Derived> & x)
24			{
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26			}
27
28			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
29
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31			{
32			using namespace pinocchio;
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
35
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37	2/2 ✓ Branch 5 taken 55 times. ✓ Branch 6 taken 1 times.	112	for (Model::FrameVector::const_iterator it = model.frames.begin(); it != model.frames.end(); ++it)
38			{
39		110	const Frame & frame = *it;
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41	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	110	Frame frame_copy(frame);
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43		110	}
44
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46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::ostringstream os;
47	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	os << frame1 << std::endl;
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49
50			// Check other signature
51	3/6 ✓ 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.	4	Frame frame2("toto", 0, frame1.placement, OP_FRAME);
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53		2	}
54
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56			{
57			using namespace pinocchio;
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59
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62
63			typedef FrameTpl<long double> Frameld;
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65
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67		2	}
68
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70			{
71			using namespace Eigen;
72			using namespace pinocchio;
73
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
76	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
77	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
78	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
80	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
82
83	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
84	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
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86
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88			data.oMf[model.getFrameId(frame_name)].isApprox(data.oMi[parent_idx] * framePlacement));
89		2	}
90
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92			{
93			using namespace Eigen;
94			using namespace pinocchio;
95
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
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99	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
100	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
102			Model::FrameIndex frame_idx =
103	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
106
107	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
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109
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
112
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114
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116		2	}
117
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119			{
120			using namespace Eigen;
121			using namespace pinocchio;
122
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
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126	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
127	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
129			Model::FrameIndex frame_idx =
130	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
133
134	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
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136
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138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacement(model, data, frame_idx);
139
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141
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143		2	}
144
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146			{
147			using namespace Eigen;
148			using namespace pinocchio;
149
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
152	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
153	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
154	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
156			Model::FrameIndex frame_idx =
157	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
159
160	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
161	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
162	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
164
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion vf = getFrameVelocity(model, data, frame_idx);
166
167	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 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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(vf.isApprox(framePlacement.actInv(data.v[parent_idx])));
168
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v);
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_ref = getFrameVelocity(model, data_ref, frame_idx);
173
174	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(v_ref.isApprox(getFrameVelocity(model, data, frame_idx)));
175	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(v_ref.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL)));
176	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(
177			data_ref.oMf[frame_idx].act(v_ref).isApprox(getFrameVelocity(model, data, frame_idx, WORLD)));
178	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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero())
179			.act(v_ref)
180			.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
181		2	}
182
183	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_acceleration)
184			{
185			using namespace Eigen;
186			using namespace pinocchio;
187
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
190	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
191	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
192	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
194			Model::FrameIndex frame_idx =
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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
197
198	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
199	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
200	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
201	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Ones(model.nv);
202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
203
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion af = getFrameAcceleration(model, data, frame_idx);
205
206	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 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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(af.isApprox(framePlacement.actInv(data.a[parent_idx])));
207
208	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx);
212
213	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(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx)));
214	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(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL)));
215	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_ref.oMf[frame_idx].act(a_ref).isApprox(
216			getFrameAcceleration(model, data, frame_idx, WORLD)));
217	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 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✗ Branch 42 not taken. ✓ Branch 43 taken 1 times.	2	BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero())
218			.act(a_ref)
219			.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
220		2	}
221
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223			{
224			using namespace Eigen;
225			using namespace pinocchio;
226
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
229	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
230	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
231	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
233			Model::FrameIndex frame_idx =
234	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
236
237	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Ones(model.nq);
238	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q.middleRows<4>(3).normalize();
239	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
240	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Ones(model.nv);
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
242
243	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Motion vel = framePlacement.actInv(data.v[parent_idx]);
244	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Motion acc = framePlacement.actInv(data.a[parent_idx]);
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3d linear;
246
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_local = acc;
248	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	linear = acc.linear() + vel.angular().cross(vel.linear());
249	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_local.linear() = linear;
250
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion af = getFrameClassicalAcceleration(model, data, frame_idx);
252
253	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(af.isApprox(acc_classical_local));
254
255	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
258
259	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	SE3 T_ref = data_ref.oMf[frame_idx];
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_ref = getFrameVelocity(model, data_ref, frame_idx);
261	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx);
262
263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_local_ref = a_ref;
264	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	linear = a_ref.linear() + v_ref.angular().cross(v_ref.linear());
265	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_local_ref.linear() = linear;
266
267	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(
268			acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx)));
269	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(
270			acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, LOCAL)));
271
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion vel_world_ref = T_ref.act(v_ref);
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion acc_classical_world_ref = T_ref.act(a_ref);
274	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	linear = acc_classical_world_ref.linear() + vel_world_ref.angular().cross(vel_world_ref.linear());
275	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_world_ref.linear() = linear;
276
277	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(
278			acc_classical_world_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, WORLD)));
279
280	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 vel_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(v_ref);
281	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 acc_classical_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(a_ref);
282			linear =
283	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	acc_classical_aligned_ref.linear() + vel_aligned_ref.angular().cross(vel_aligned_ref.linear());
284	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	acc_classical_aligned_ref.linear() = linear;
285
286	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(acc_classical_aligned_ref.isApprox(
287			getFrameClassicalAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED)));
288		2	}
289
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291			{
292			using namespace Eigen;
293			using namespace pinocchio;
294
295			// Build a simple 1R planar model
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
297	5/10 ✓ 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. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	JointIndex parentId = model.addJoint(0, JointModelRZ(), SE3::Identity(), "Joint1");
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	FrameIndex frameId = model.addFrame(
299	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken.	4	Frame("Frame1", parentId, 0, SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), OP_FRAME));
300
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
302
303			// Predetermined configuration values
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q(model.nq);
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << M_PI / 2;
306
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v(model.nv);
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v << 1.0;
309
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a(model.nv);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	a << 0.0;
312
313			// Expected velocity
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_local;
315	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_local.linear() = Vector3d(0.0, 1.0, 0.0);
316	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_local.angular() = Vector3d(0.0, 0.0, 1.0);
317
318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_world;
319	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_world.linear() = Vector3d::Zero();
320	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_world.angular() = Vector3d(0.0, 0.0, 1.0);
321
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_align;
323	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_align.linear() = Vector3d(-1.0, 0.0, 0.0);
324	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_align.angular() = Vector3d(0.0, 0.0, 1.0);
325
326			// Expected classical acceleration
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_local;
328	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	ac_local.linear() = Vector3d(-1.0, 0.0, 0.0);
329	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	ac_local.angular() = Vector3d::Zero();
330
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_world = Motion::Zero();
332
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_align;
334	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	ac_align.linear() = Vector3d(0.0, -1.0, 0.0);
335	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	ac_align.angular() = Vector3d::Zero();
336
337			// Perform kinematics
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
339
340			// Check output velocity
341	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(v_local.isApprox(getFrameVelocity(model, data, frameId)));
342	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(v_local.isApprox(getFrameVelocity(model, data, frameId, LOCAL)));
343	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(v_world.isApprox(getFrameVelocity(model, data, frameId, WORLD)));
344	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(v_align.isApprox(getFrameVelocity(model, data, frameId, LOCAL_WORLD_ALIGNED)));
345
346			// Check output acceleration (all zero)
347	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(getFrameAcceleration(model, data, frameId).isZero());
348	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(getFrameAcceleration(model, data, frameId, LOCAL).isZero());
349	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(getFrameAcceleration(model, data, frameId, WORLD).isZero());
350	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(getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED).isZero());
351
352			// Check output classical acceleration
353	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(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId)));
354	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(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL)));
355	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(ac_world.isApprox(getFrameClassicalAcceleration(model, data, frameId, WORLD)));
356	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(
357			ac_align.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED)));
358		2	}
359
360	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_get_frame_jacobian)
361			{
362			using namespace Eigen;
363			using namespace pinocchio;
364
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
366	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
367	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
368	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
369	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
371	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
372	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(model.existFrame(frame_name));
373
374	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
376
377	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.);
378	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.);
379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
380	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
381
382			// In LOCAL frame
383	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Model::Index idx = model.getFrameId(frame_name);
384		2	const Frame & frame = model.frames[idx];
385	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(frame.placement.isApprox_impl(framePlacement));
386	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jjj(6, model.nv);
387	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jjj.fill(0);
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jff(6, model.nv);
389	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff.fill(0);
390	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jff2(6, model.nv);
391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff2.fill(0);
392
393	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
394	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacement(model, data, idx);
395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL, Jff);
396	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, LOCAL)));
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
398	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, parent_idx, LOCAL, Jjj);
399
400	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion nu_frame = Motion(Jff * v);
401	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion nu_joint = Motion(Jjj * v);
402
403	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3::ActionMatrixType jXf = frame.placement.toActionMatrix();
404	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x Jjj_from_frame(jXf * Jff);
405	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(Jjj_from_frame.isApprox(Jjj));
406
407	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(nu_frame.isApprox(frame.placement.actInv(nu_joint)));
408
409			// In WORLD frame
410	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jjj.fill(0);
411	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff.fill(0);
412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff2.fill(0);
413	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, WORLD, Jff);
414	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, WORLD)));
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, parent_idx, WORLD, Jjj);
416	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(Jff.isApprox(Jjj));
417
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeFrameJacobian(model, data, q, idx, WORLD, Jff2);
419
420	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(Jff2.isApprox(Jjj));
421
422			// In WORLD frame
423	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jjj.fill(0);
424	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff.fill(0);
425	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jff2.fill(0);
426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, Jff);
427	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 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED)));
428
429	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, parent_idx, WORLD, Jjj);
430	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.	2	const SE3 oMf_translation(SE3::Matrix3::Identity(), data.oMf[idx].translation());
431	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	Jjj = oMf_translation.toActionMatrixInverse() * Jjj;
432	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(Jff.isApprox(Jjj));
433
434	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeFrameJacobian(model, data, q, idx, LOCAL_WORLD_ALIGNED, Jff2);
435	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(Jff2.isApprox(Jff));
436		2	}
437
438	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_frame_jacobian)
439			{
440			using namespace Eigen;
441			using namespace pinocchio;
442
443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
445	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
446	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
447	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
448	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
449	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
450	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(model.existFrame(frame_name));
451
452	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
453	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
454
455	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.);
456	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.);
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
458	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
459
460	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::Index idx = model.getFrameId(frame_name);
461		2	const Frame & frame = model.frames[idx];
462	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(frame.placement.isApprox_impl(framePlacement));
463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf(6, model.nv);
464	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf.fill(0);
465	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf2(6, model.nv);
466	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf2.fill(0);
467	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf_ref(6, model.nv);
468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf_ref.fill(0);
469
470	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeFrameJacobian(model, data_ref, q, idx, Jf);
471
472	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacement(model, data_ref, idx);
474	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, LOCAL, Jf_ref);
475
476	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(Jf.isApprox(Jf_ref));
477
478	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeFrameJacobian(model, data, q, idx, LOCAL, Jf2);
479
480	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(Jf2.isApprox(Jf_ref));
481		2	}
482
483	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_frame_jacobian_local_world_oriented)
484			{
485			using namespace Eigen;
486			using namespace pinocchio;
487
488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
489	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
490	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
491	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
492	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
493	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
494	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
495	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(model.existFrame(frame_name));
496
497	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
498
499	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.);
500	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.);
501	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
502	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	VectorXd v = VectorXd::Ones(model.nv);
503
504	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model::Index idx = model.getFrameId(frame_name);
505	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf(6, model.nv);
506	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf.fill(0);
507	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf2(6, model.nv);
508	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf2.fill(0);
509	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jf_ref(6, model.nv);
510	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jf_ref.fill(0);
511
512	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
513	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacement(model, data, idx);
514	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL, Jf_ref);
515
516			// Compute the jacobians.
517	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 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.	2	Jf_ref = SE3(data.oMf[idx].rotation(), Eigen::Vector3d::Zero()).toActionMatrix() * Jf_ref;
518	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, Jf);
519
520	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(Jf.isApprox(Jf_ref));
521
522	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeFrameJacobian(model, data, q, idx, LOCAL_WORLD_ALIGNED, Jf2);
523
524	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(Jf2.isApprox(Jf_ref));
525		2	}
526
527	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_frame_jacobian_time_variation)
528			{
529			using namespace Eigen;
530			using namespace pinocchio;
531
532	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
533	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
534	6/16 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 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 22 not taken. ✗ Branch 23 not taken. ✗ Branch 25 not taken. ✗ Branch 26 not taken.	4	Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint")
535	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	: (Model::Index)(model.njoints - 1);
536	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string & frame_name = std::string(model.names[parent_idx] + "_frame");
537	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const SE3 & framePlacement = SE3::Random();
538	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	model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME));
539	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
540	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
541
542			VectorXd q = randomConfiguration(
543	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	2	model, -1 * Eigen::VectorXd::Ones(model.nq), Eigen::VectorXd::Ones(model.nq));
544	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v = VectorXd::Random(model.nv);
545	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a = VectorXd::Random(model.nv);
546
547	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
548	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
549
550	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
551	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
552
553	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(isFinite(data.dJ));
554
555	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::Index idx = model.getFrameId(frame_name);
556		2	const Frame & frame = model.frames[idx];
557	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(frame.placement.isApprox_impl(framePlacement));
558
559	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J(6, model.nv);
560	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
561	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
562	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
563
564			// Regarding to the WORLD origin
565	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, WORLD, J);
566	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ);
567
568	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion v_idx(J * v);
569	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion & v_ref_local = frame.placement.actInv(data_ref.v[parent_idx]);
570	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion & v_ref = data_ref.oMf[idx].act(v_ref_local);
571
572	3/6 ✓ 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.	2	const SE3 wMf = SE3(data_ref.oMf[idx].rotation(), SE3::Vector3::Zero());
573	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion v_ref_local_world_aligned = wMf.act(v_ref_local);
574	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_idx.isApprox(v_ref));
575
576	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 a_idx(J * a + dJ * v);
577	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion a_ref_local = frame.placement.actInv(data_ref.a[parent_idx]);
578	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const Motion a_ref = data_ref.oMf[idx].act(a_ref_local);
579	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Motion a_ref_local_world_aligned = wMf.act(a_ref_local);
580	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_idx.isApprox(a_ref));
581
582	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
583	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
584			// Regarding to the LOCAL frame
585	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL, J);
586	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ);
587
588	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_idx = (Motion::Vector6)(J * v);
589	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_idx.isApprox(v_ref_local));
590
591	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	a_idx = (Motion::Vector6)(J * a + dJ * v);
592	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_idx.isApprox(a_ref_local));
593
594			// Regarding to the LOCAL_WORLD_ALIGNED frame
595	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J);
596	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
597	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::Motion world_v_frame = data.ov[parent_idx];
598	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	world_v_frame.linear().setZero();
599
600	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_idx = (Motion::Vector6)(J * v);
601	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_idx.isApprox(v_ref_local_world_aligned));
602
603	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	a_idx = (Motion::Vector6)(J * a + dJ * v);
604	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 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 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK(
605			a_idx.isApprox(world_v_frame.cross(wMf.act(v_ref_local)) + a_ref_local_world_aligned));
606
607			// compare to finite differencies
608			{
609	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
610
611		2	const double alpha = 1e-8;
612	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
613	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);
614
615			// data_ref
616	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x J_ref_world(6, model.nv), J_ref_local(6, model.nv),
617	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local_world_aligned(6, model.nv);
618	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_world.fill(0.);
619	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local.fill(0.);
620	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_local_world_aligned.fill(0.);
621	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
622	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref);
623	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, WORLD, J_ref_world);
624	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, LOCAL, J_ref_local);
625	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned);
626
627			// data_ref_plus
628	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x J_ref_plus_world(6, model.nv), J_ref_plus_local(6, model.nv),
629	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local_world_aligned(6, model.nv);
630	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_world.fill(0.);
631	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local.fill(0.);
632	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus_local_world_aligned.fill(0.);
633	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
634	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data_ref_plus);
635	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus_world);
636	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus_local);
637	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobian(
638			model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus_local_world_aligned);
639
640	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x dJ_ref_world(6, model.nv), dJ_ref_local(6, model.nv),
641	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local_world_aligned(6, model.nv);
642	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_world.fill(0.);
643	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local.fill(0.);
644	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref_local_world_aligned.fill(0.);
645	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	dJ_ref_world = (J_ref_plus_world - J_ref_world) / alpha;
646	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	dJ_ref_local = (J_ref_plus_local - J_ref_local) / alpha;
647			dJ_ref_local_world_aligned =
648	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	(J_ref_plus_local_world_aligned - J_ref_local_world_aligned) / alpha;
649
650			// data
651	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
652	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
653	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateFramePlacements(model, data);
654	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data::Matrix6x dJ_world(6, model.nv), dJ_local(6, model.nv),
655	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local_world_aligned(6, model.nv);
656	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_world.fill(0.);
657	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local.fill(0.);
658	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_local_world_aligned.fill(0.);
659	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ_world);
660	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ_local);
661	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ_local_world_aligned);
662
663	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(dJ_world.isApprox(dJ_ref_world, sqrt(alpha)));
664	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(dJ_local.isApprox(dJ_ref_local, sqrt(alpha)));
665	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(dJ_local_world_aligned.isApprox(dJ_ref_local_world_aligned, sqrt(alpha)));
666		2	}
667		2	}
668
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670			{
671			using namespace Eigen;
672			using namespace pinocchio;
673
674			// Create a humanoid robot
675	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_free;
676	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoid(model_free, true);
677	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_free(model_free);
678
679			// Set freeflyer limits to allow for randomConfiguration
680	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	model_free.lowerPositionLimit.segment(0, 3) << Vector3d::Constant(-1);
681	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	model_free.upperPositionLimit.segment(0, 3) << Vector3d::Constant(1);
682
683			// Joint of interest (that will be converted to frame)
684	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string joint_name = "chest2_joint";
685	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const JointIndex joint_id = model_free.getJointId(joint_name);
686
687			// Duplicate of the model with the joint of interest fixed (to make a frame)
688	3/6 ✓ 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.	4	pinocchio::Model model_fix = buildReducedModel(model_free, {joint_id}, neutral(model_free));
689	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fix(model_fix);
690	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const FrameIndex frame_id = model_fix.getFrameId(joint_name);
691
692			// Const variable to help convert q, v, a from one model to another
693	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const int joint_idx_q(model_free.joints[joint_id].idx_q());
694	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const int joint_idx_v(model_free.joints[joint_id].idx_v());
695
696			// Pick random q, v, a
697	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_free = randomConfiguration(model_free);
698	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v_free(VectorXd::Random(model_free.nv));
699	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a_free(VectorXd::Random(model_free.nv));
700
701			// Set joint of interest to q, v, a = 0 to mimic the fixed joint
702	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_free[joint_idx_q] = 0;
703	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_free[joint_idx_v] = 0;
704	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	a_free[joint_idx_v] = 0;
705
706			// Adapt configuration for fixed joint model
707	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q_fix(model_fix.nq);
708	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	q_fix << q_free.head(joint_idx_q), q_free.tail(model_free.nq - joint_idx_q - 1);
709	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v_fix(model_fix.nv);
710	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	v_fix << v_free.head(joint_idx_v), v_free.tail(model_free.nv - joint_idx_v - 1);
711	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a_fix(model_fix.nv);
712	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	a_fix << a_free.head(joint_idx_v), a_free.tail(model_free.nv - joint_idx_v - 1);
713
714			// Compute inertia/force for both models differently
715	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_fix, data_fix, q_fix, v_fix, a_fix);
716	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model_free, data_free, q_free, Convention::WORLD);
717
718	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Inertia inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, false);
719	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Inertia inertia_free(model_free.inertias[joint_id]);
720	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(inertia_fix.isApprox(inertia_free));
721
722	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, true);
723	2/4 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken.	2	inertia_free = data_free.oMi[joint_id].actInv(data_free.oYcrb[joint_id]);
724	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(inertia_fix.isApprox(inertia_free));
725
726	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model_fix, data_fix, q_fix, v_fix, a_fix);
727	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model_free, data_free, q_free, v_free, a_free);
728
729	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Force force_fix = computeSupportedForceByFrame(model_fix, data_fix, frame_id);
730	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Force force_free(data_free.f[joint_id]);
731	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(force_fix.isApprox(force_free));
732		2	}
733			BOOST_AUTO_TEST_SUITE_END()
734