GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	197	197	100.0%
Branches:	703	1400	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2022 CNRS INRIA
3			//
4
5			#include <iostream>
6
7			#include "pinocchio/multibody/model.hpp"
8			#include "pinocchio/multibody/data.hpp"
9
10			#include "pinocchio/multibody/geometry.hpp"
11			#include "pinocchio/algorithm/kinematics.hpp"
12			#include "pinocchio/collision/collision.hpp"
13			#include "pinocchio/algorithm/geometry.hpp"
14			#include "pinocchio/parsers/urdf.hpp"
15			#include "pinocchio/parsers/srdf.hpp"
16
17			#include <vector>
18			#include <boost/test/unit_test.hpp>
19
20			using namespace pinocchio;
21
22			typedef std::map<std::string, pinocchio::SE3> PositionsMap_t;
23			typedef std::map<std::string, pinocchio::SE3> JointPositionsMap_t;
24			typedef std::map<std::string, pinocchio::SE3> GeometryPositionsMap_t;
25			typedef std::map<std::pair<std::string, std::string>, fcl::DistanceResult> PairDistanceMap_t;
26			JointPositionsMap_t
27			fillPinocchioJointPositions(const pinocchio::Model & model, const pinocchio::Data & data);
28			GeometryPositionsMap_t fillPinocchioGeometryPositions(
29			const pinocchio::GeometryModel & geomModel, const pinocchio::GeometryData & geomData);
30
31			std::vector<std::string> getBodiesList();
32
33			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
34
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36			{
37			using namespace pinocchio;
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel;
40
41			Model::JointIndex idx;
42	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken.	6	idx = model.addJoint(
43	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	model.getJointId("universe"), JointModelPlanar(), SE3::Identity(), "planar1_joint");
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
45	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.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity());
46	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	model.addBodyFrame("planar1_body", idx, SE3::Identity());
47
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49	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	4	model.getJointId("universe"), JointModelPlanar(), SE3::Identity(), "planar2_joint");
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model.addJointFrame(idx);
51	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.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity());
52	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	model.addBodyFrame("planar2_body", idx, SE3::Identity());
53
54	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	std::shared_ptr<fcl::Box> sample(new fcl::Box(1, 1, 1));
55	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Model::FrameIndex body_id_1 = model.getBodyId("planar1_body");
56		2	Model::JointIndex joint_parent_1 = model.frames[body_id_1].parentJoint;
57	10/20 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 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.	10	Model::JointIndex idx_geom1 = geomModel.addGeometryObject(GeometryObject(
58	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	"ff1_collision_object", joint_parent_1, model.getBodyId("planar1_body"), SE3::Identity(),
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	sample, "", Eigen::Vector3d::Ones()));
60		2	geomModel.geometryObjects[idx_geom1].parentJoint = model.frames[body_id_1].parentJoint;
61
62	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	std::shared_ptr<fcl::Box> sample2(new fcl::Box(1, 1, 1));
63	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Model::FrameIndex body_id_2 = model.getBodyId("planar2_body");
64		2	Model::JointIndex joint_parent_2 = model.frames[body_id_2].parentJoint;
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::JointIndex idx_geom2 = geomModel.addGeometryObject(
66	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 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.	12	GeometryObject(
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	"ff2_collision_object", joint_parent_2, model.getBodyId("planar2_body"), SE3::Identity(),
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	sample2, "", Eigen::Vector3d::Ones()),
69			model);
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71			geomModel.geometryObjects[idx_geom2].parentJoint == model.frames[body_id_2].parentJoint);
72
73	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	std::shared_ptr<fcl::Box> universe_body_geometry(new fcl::Box(1, 1, 1));
74	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	model.addBodyFrame("universe_body", 0, SE3::Identity());
75	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	Model::FrameIndex body_id_3 = model.getBodyId("universe_body");
76		2	Model::JointIndex joint_parent_3 = model.frames[body_id_3].parentJoint;
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 universe_body_placement = SE3::Random();
78	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::JointIndex idx_geom3 = geomModel.addGeometryObject(
79	9/18 ✓ 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 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 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.	8	GeometryObject(
80			"universe_collision_object", joint_parent_3, model.getBodyId("universe_body"),
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	universe_body_placement, universe_body_geometry, "", Eigen::Vector3d::Ones()),
82			model);
83
84	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK(
85			geomModel.geometryObjects[idx_geom3].parentJoint == model.frames[body_id_3].parentJoint);
86
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomModel.addAllCollisionPairs();
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryData geomData(geomModel);
90
91	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 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(CollisionPair(0, 1) == geomModel.collisionPairs[0]);
92
93	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "------ Model ------ " << std::endl;
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << model;
95	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "------ Geom ------ " << std::endl;
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << geomModel;
97	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "------ DataGeom ------ " << std::endl;
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << geomData;
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q(model.nq);
101	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken.	2	q << 0, 0, 1, 0, 0, 0, 1, 0;
102
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q);
104	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK(geomData.oMg[idx_geom3].isApprox(universe_body_placement));
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106
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108
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q);
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111
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113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q);
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116
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118
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q);
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121
122	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	geomModel.removeGeometryObject("ff2_collision_object");
123	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	geomData = pinocchio::GeometryData(geomModel);
124
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129			(geomModel.collisionPairs[0].first == 0 && geomModel.collisionPairs[0].second == 1)
130			\|\| (geomModel.collisionPairs[0].first == 1 && geomModel.collisionPairs[0].second == 0));
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136		2	}
137
138			#if defined(PINOCCHIO_WITH_URDFDOM)
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140			{
141			typedef pinocchio::Model Model;
142			typedef pinocchio::GeometryModel GeometryModel;
143			typedef pinocchio::Data Data;
144			typedef pinocchio::GeometryData GeometryData;
145
146			std::string filename =
147			PINOCCHIO_MODEL_DIR
148	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
149		2	std::vector<std::string> packageDirs;
150	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string meshDir = PINOCCHIO_MODEL_DIR;
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
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	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geomModel;
156	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs);
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geomModel.addAllCollisionPairs();
158
159			GeometryModel geomModelOther =
160	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs);
161	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(geomModelOther == geomModel);
162
163	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geomData(geomModel);
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	fcl::CollisionResult result;
166
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q(model.nq);
168	16/32 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken.	2	q << 0, 0, 0.840252, 0, 0, 0, 1, 0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0, 0, -0.3490658,
169	17/34 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✓ Branch 28 taken 1 times. ✗ Branch 29 not taken. ✓ Branch 31 taken 1 times. ✗ Branch 32 not taken. ✓ Branch 34 taken 1 times. ✗ Branch 35 not taken. ✓ Branch 37 taken 1 times. ✗ Branch 38 not taken. ✓ Branch 40 taken 1 times. ✗ Branch 41 not taken. ✓ Branch 43 taken 1 times. ✗ Branch 44 not taken. ✓ Branch 46 taken 1 times. ✗ Branch 47 not taken. ✓ Branch 49 taken 1 times. ✗ Branch 50 not taken.	2	0.6981317, -0.3490658, 0, 0, 1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, 0, 0, 0, 0, 1.5, -0.6,
170	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	0.5, 1.05, -0.4, -0.3, -0.2;
171
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q);
173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pinocchio::Index idx = geomModel.findCollisionPair(CollisionPair(1, 10));
174	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(computeCollision(geomModel, geomData, idx) == false);
175
176	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	fcl::DistanceResult distance_res = computeDistance(geomModel, geomData, idx);
177	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(distance_res.min_distance > 0.);
178		2	}
179
180	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_collisions)
181			{
182			typedef pinocchio::Model Model;
183			typedef pinocchio::GeometryModel GeometryModel;
184			typedef pinocchio::Data Data;
185			typedef pinocchio::GeometryData GeometryData;
186
187			const std::string filename =
188			PINOCCHIO_MODEL_DIR
189	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
190		2	std::vector<std::string> packageDirs;
191	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
193			const std::string srdf_filename =
194			PINOCCHIO_MODEL_DIR
195	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf");
196
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
198	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
200	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs);
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
202	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false);
203
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
205	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
206
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false);
208	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
209
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q);
211
212	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(computeCollisions(geom_model, geom_data) == false);
213	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(computeCollisions(geom_model, geom_data, false) == false);
214
215	2/2 ✓ Branch 1 taken 70 times. ✓ Branch 2 taken 1 times.	142	for (size_t cp_index = 0; cp_index < geom_model.collisionPairs.size(); ++cp_index)
216			{
217		140	const CollisionPair & cp = geom_model.collisionPairs[cp_index];
218		140	const GeometryObject & obj1 = geom_model.geometryObjects[cp.first];
219		140	const GeometryObject & obj2 = geom_model.geometryObjects[cp.second];
220
221	1/2 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken.	140	hpp::fcl::CollisionResult other_res;
222	1/2 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken.	140	computeCollision(geom_model, geom_data, cp_index);
223
224	1/2 ✓ Branch 2 taken 70 times. ✗ Branch 3 not taken.	140	fcl::Transform3f oM1(toFclTransform3f(geom_data.oMg[cp.first])),
225	1/2 ✓ Branch 2 taken 70 times. ✗ Branch 3 not taken.	140	oM2(toFclTransform3f(geom_data.oMg[cp.second]));
226
227	1/2 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken.	140	fcl::collide(
228		140	obj1.geometry.get(), oM1, obj2.geometry.get(), oM2, geom_data.collisionRequests[cp_index],
229			other_res);
230
231		140	const hpp::fcl::CollisionResult & res = geom_data.collisionResults[cp_index];
232
233	6/12 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 70 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 70 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 70 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 70 times.	140	BOOST_CHECK(res.isCollision() == other_res.isCollision());
234	6/12 ✓ Branch 1 taken 70 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 70 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 70 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 70 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 70 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 70 times.	140	BOOST_CHECK(!res.isCollision());
235		140	}
236
237			// test other signatures
238			{
239	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
241	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(computeCollisions(model, data, geom_model, geom_data, q) == false);
242		2	}
243		2	}
244
245	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_distances)
246			{
247			typedef pinocchio::Model Model;
248			typedef pinocchio::GeometryModel GeometryModel;
249			typedef pinocchio::Data Data;
250			typedef pinocchio::GeometryData GeometryData;
251
252			const std::string filename =
253			PINOCCHIO_MODEL_DIR
254	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
255		2	std::vector<std::string> packageDirs;
256	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
258			const std::string srdf_filename =
259			PINOCCHIO_MODEL_DIR
260	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf");
261
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
263	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
265	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs);
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	geom_model.addAllCollisionPairs();
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false);
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
271
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false);
273	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
274
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q);
276
277	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(computeDistances(geom_model, geom_data) < geom_model.collisionPairs.size());
278
279			{
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geom_data(geom_model);
282	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 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(
283			computeDistances(model, data, geom_model, geom_data, q) < geom_model.collisionPairs.size());
284		2	}
285		2	}
286
287	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_append_geom_models)
288			{
289			typedef pinocchio::Model Model;
290			typedef pinocchio::GeometryModel GeometryModel;
291
292			const std::string filename =
293			PINOCCHIO_MODEL_DIR
294	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
295		2	std::vector<std::string> packageDirs;
296	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	const std::string meshDir = PINOCCHIO_MODEL_DIR;
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
298
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
300	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
301	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model1;
302	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model1, packageDirs);
303
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model2;
305	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model2, packageDirs);
306
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendGeometryModel(geom_model2, geom_model1);
308	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(geom_model2.ngeoms == 2 * geom_model1.ngeoms);
309
310			// Check that collision pairs between geoms on the same joint are discarded.
311	2/2 ✓ Branch 1 taken 380 times. ✓ Branch 2 taken 1 times.	762	for (pinocchio::Index i = 0; i < geom_model2.collisionPairs.size(); ++i)
312			{
313		760	pinocchio::CollisionPair cp = geom_model2.collisionPairs[i];
314	5/10 ✓ Branch 1 taken 380 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 380 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 380 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 380 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 380 times.	760	BOOST_CHECK_NE(
315			geom_model2.geometryObjects[cp.first].parentJoint,
316			geom_model2.geometryObjects[cp.second].parentJoint);
317			}
318
319			{
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model_empty;
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryModel geom_model;
322	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(geom_model_empty.ngeoms == 0);
323	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	appendGeometryModel(geom_model, geom_model_empty);
324	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(geom_model.ngeoms == 0);
325		2	}
326		2	}
327
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329			{
330		2	std::vector<std::string> packageDirs;
331
332			std::string filename =
333			PINOCCHIO_MODEL_DIR
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335	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::string meshDir = PINOCCHIO_MODEL_DIR;
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	packageDirs.push_back(meshDir);
337
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
339	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
340	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::GeometryModel geom;
341	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom, packageDirs);
342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
343	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	GeometryData geomData(geom);
344
345			// Test that the algorithm does not crash
346	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::computeBodyRadius(model, geom, geomData);
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349		2	}
350			#endif // if defined(PINOCCHIO_WITH_URDFDOM)
351
352			BOOST_AUTO_TEST_SUITE_END()
353