GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	163	163	100.0%
Branches:	692	1378	50.2%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016 CNRS
3			//
4
5			#include "pinocchio/multibody/joint/joint-composite.hpp"
6			#include "pinocchio/algorithm/joint-configuration.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8
9			#include <iostream>
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			using namespace pinocchio;
14			using namespace Eigen;
15
16			template<typename JointModel>
17			void test_joint_methods(
18			const JointModelBase<JointModel> & jmodel, JointModelComposite & jmodel_composite);
19
20			template<typename JointModel>
21		32	void test_joint_methods(const JointModelBase<JointModel> & jmodel)
22			{
23	2/4 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 16 times. ✗ Branch 5 not taken.	32	JointModelComposite jmodel_composite(jmodel);
24	1/2 ✓ Branch 1 taken 16 times. ✗ Branch 2 not taken.	32	test_joint_methods(jmodel, jmodel_composite);
25		32	}
26
27			template<typename JointModel>
28		36	void test_joint_methods(
29			const JointModelBase<JointModel> & jmodel, JointModelComposite & jmodel_composite)
30			{
31			typedef typename JointModelBase<JointModel>::JointDataDerived JointData;
32
33	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointData jdata = jmodel.createData();
34	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointDataComposite jdata_composite = jmodel_composite.createData();
35
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37
38			typedef typename JointModel::ConfigVector_t ConfigVector_t;
39			typedef typename JointModel::TangentVector_t TangentVector_t;
40			typedef typename LieGroup<JointModel>::type LieGroupType;
41
42			typedef Eigen::Matrix<typename ConfigVector_t::Scalar, Eigen::Dynamic, 1, ConfigVector_t::Options>
43			DynConfigVectorType;
44			typedef DynConfigVectorType DynTangentVectorType;
45
46	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	ConfigVector_t ql(ConfigVector_t::Constant(jmodel.nq(), -M_PI));
47	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	ConfigVector_t qu(ConfigVector_t::Constant(jmodel.nq(), M_PI));
48	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	DynConfigVectorType q = LieGroupType().randomConfiguration(ql, qu);
49
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52
53	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc(jdata, q);
54	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc(jdata_composite, q);
55
56	8/16 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 18 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 18 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 18 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 18 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 18 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 18 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 18 times.	36	BOOST_CHECK(jdata_composite.M.isApprox((SE3)jdata.M));
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58
59	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	q = LieGroupType().randomConfiguration(ql, qu);
60	3/6 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 18 times. ✗ Branch 8 not taken.	36	DynTangentVectorType v = TangentVector_t::Random(jmodel.nv());
61	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc(jdata, q, v);
62	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc(jdata_composite, q, v);
63
64	8/16 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 18 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 18 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 18 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 18 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 18 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 18 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 18 times.	36	BOOST_CHECK(jdata_composite.M.isApprox((SE3)jdata.M));
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68
69			// TODO: Not yet checked
70			// {
71			// VectorXd q1(jmodel.random());
72			// jmodel.normalize(q1);
73			// VectorXd q2(jmodel.random());
74			// jmodel.normalize(q2);
75			// VectorXd v(VectorXd::Random(jmodel.nv()));
76			//
77			// BOOST_CHECK(jmodel_composite.integrate(q1,v).isApprox(jmodel.integrate(q1,v)));
78			//
79			// TangentVector_t v1 = jmodel_composite.difference(q1,q2);
80			// TangentVector_t v2 = jmodel.difference(q1,q2);
81			//
82			// BOOST_CHECK(v1.isApprox(v2));
83			//
84			// const double alpha = 0.2;
85			// BOOST_CHECK(jmodel_composite.interpolate(q1,q2,alpha).isApprox(jmodel.interpolate(q1,q2,alpha)));
86			// BOOST_CHECK(math::fabs(jmodel_composite.distance(q1,q2)-jmodel.distance(q1,q2))<=
87			// NumTraits<double>::dummy_precision());
88			// }
89
90	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	Inertia::Matrix6 I0(Inertia::Random().matrix());
91
92	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I1 = I0;
93	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I2 = I0;
94
95	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	const Eigen::VectorXd armature =
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97	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel.calc_aba(jdata, armature, I1, true);
98	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite.calc_aba(jdata_composite, armature, I2, true);
99
100		36	double prec = 1e-10; // higher tolerance to errors due to possible numerical imprecisions
101
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105
106			// Checking the inertia was correctly updated
107			// We use isApprox as usual, except for the freeflyer,
108			// where the correct result is exacly zero and isApprox would fail.
109			// Only for this single case, we use the infinity norm of the difference
110	3/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 17 times.	36	if (jmodel.shortname() == "JointModelFreeFlyer")
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112			else
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114
115			// Test operator=
116	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointModelComposite jmodel_composite2 = jmodel_composite;
117	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	JointDataComposite jdata_composite2 = jmodel_composite2.createData();
118
119	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite2.calc(jdata_composite2, q, v);
120
121	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	Inertia::Matrix6 I3 = I0;
122	1/2 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken.	36	jmodel_composite2.calc_aba(jdata_composite2, armature, I3, true);
123
124	3/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✓ Branch 6 taken 17 times.	36	if (jmodel.shortname() == "JointModelFreeFlyer")
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126			else
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128
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130
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134
135			// Test operator <<
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137
138			// Test block operators
139		36	const int m = 100;
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142	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	Model::ConfigVectorType vec(Model::ConfigVectorType::Ones(m));
143	2/4 ✓ Branch 1 taken 18 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 18 times. ✗ Branch 5 not taken.	36	const Model::ConfigVectorType vec_const(Model::ConfigVectorType::Ones(m));
144
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147			jmodel.jointConfigSelector(vec_const) == jmodel_composite.jointConfigSelector(vec_const));
148
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151			jmodel.jointVelocitySelector(vec_const) == jmodel_composite.jointVelocitySelector(vec_const));
152
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155		36	}
156
157			struct TestJointComposite
158			{
159
160			template<typename JointModel>
161		28	void operator()(const JointModelBase<JointModel> &) const
162			{
163	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	JointModel jmodel;
164	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	28	jmodel.setIndexes(0, 0, 0);
165
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167		28	}
168
169			// void operator()(const JointModelBase<JointModelComposite> &) const
170			// {
171			// JointModelComposite jmodel_composite;
172			// jmodel_composite.addJoint(pinocchio::JointModelRX());
173			// jmodel_composite.addJoint(pinocchio::JointModelRY());
174			// jmodel_composite.setIndexes(0,0,0);
175			//
176			// test_joint_methods(jmodel_composite);
177			// }
178
179		1	void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const
180			{
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
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183
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185		1	}
186
187		1	void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const
188			{
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	jmodel.setIndexes(0, 0, 0);
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	test_joint_methods(jmodel);
192		1	}
193			};
194
195			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
196
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198			{
199			typedef boost::variant<
200			JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical,
201			JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned,
202			JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelRUBX, JointModelRUBY,
203			JointModelRUBZ>
204			Variant;
205
206		2	boost::mpl::for_each<Variant::types>(TestJointComposite());
207		2	}
208
209	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(chain)
210			{
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite jmodel_composite;
212	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	jmodel_composite.addJoint(JointModelRZ())
213	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	.addJoint(JointModelRY(), SE3::Random())
214	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	.addJoint(JointModelRX());
215	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(jmodel_composite.nq() == 3, "Chain did not work");
216	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_MESSAGE(jmodel_composite.nv() == 3, "Chain did not work");
217	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_MESSAGE(jmodel_composite.njoints == 3, "Chain did not work");
218		2	}
219
220	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(vsZYX)
221			{
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelSphericalZYX jmodel_spherical;
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_spherical.setIndexes(0, 0, 0);
224
225	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	JointModelComposite jmodel_composite((JointModelRZ()));
226	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	jmodel_composite.addJoint(JointModelRY());
227	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	jmodel_composite.addJoint(JointModelRX());
228
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_joint_methods(jmodel_spherical, jmodel_composite);
230		2	}
231
232	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(vsTranslation)
233			{
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelTranslation jmodel_translation;
235	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_translation.setIndexes(0, 0, 0);
236
237	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	JointModelComposite jmodel_composite((JointModelPX()));
238	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	jmodel_composite.addJoint(JointModelPY());
239	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	jmodel_composite.addJoint(JointModelPZ());
240
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	test_joint_methods(jmodel_translation, jmodel_composite);
242		2	}
243
244	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_recursive_variant)
245			{
246			/// Create joint composite with two joints,
247	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	JointModelComposite jmodel_composite_two_rx((JointModelRX()));
248	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	jmodel_composite_two_rx.addJoint(JointModelRY());
249
250			/// Create Joint composite with three joints, and add a composite in it, to test the
251			/// recursive_wrapper
252	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	JointModelComposite jmodel_composite_recursive((JointModelFreeFlyer()));
253	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	jmodel_composite_recursive.addJoint(JointModelPlanar());
254	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	jmodel_composite_recursive.addJoint(jmodel_composite_two_rx);
255		2	}
256
257	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_copy)
258			{
259	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	JointModelComposite jmodel_composite_planar((JointModelPX()));
260	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	jmodel_composite_planar.addJoint(JointModelPY());
261	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	jmodel_composite_planar.addJoint(JointModelRZ());
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_composite_planar.setIndexes(0, 0, 0);
263
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointDataComposite jdata_composite_planar = jmodel_composite_planar.createData();
265
266	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q1(VectorXd::Random(3));
267	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q1_dot(VectorXd::Random(3));
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite model_copy = jmodel_composite_planar;
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointDataComposite data_copy = model_copy.createData();
271
272	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_MESSAGE(
273			model_copy.nq() == jmodel_composite_planar.nq(), "Test Copy Composite, nq are differents");
274	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 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 27 not taken. ✓ Branch 28 taken 1 times.	2	BOOST_CHECK_MESSAGE(
275			model_copy.nv() == jmodel_composite_planar.nv(), "Test Copy Composite, nv are differents");
276
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jmodel_composite_planar.calc(jdata_composite_planar, q1, q1_dot);
278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	model_copy.calc(data_copy, q1, q1_dot);
279		2	}
280
281	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_kinematics)
282			{
283	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelComposite jmodel_composite;
285
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 config = SE3::Random();
287		2	JointIndex parent = 0;
288
289	2/2 ✓ Branch 0 taken 10 times. ✓ Branch 1 taken 1 times.	22	for (int i = 0; i < 10; i++)
290			{
291	4/8 ✓ Branch 2 taken 10 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 10 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 10 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 10 times. ✗ Branch 12 not taken.	20	parent = model.addJoint(parent, JointModelRX(), config, "joint");
292	2/4 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 10 times. ✗ Branch 5 not taken.	20	jmodel_composite.addJoint(JointModelRX(), config);
293
294	1/2 ✓ Branch 1 taken 10 times. ✗ Branch 2 not taken.	20	config.setRandom();
295			}
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
298
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model_c;
300	4/8 ✓ 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.	2	model_c.addJoint(0, jmodel_composite, SE3::Identity(), "joint");
301
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_c(model_c);
303
304	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(model.nv == model_c.nv);
305	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(model.nq == model_c.nq);
306
307	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q(VectorXd::Random(model.nv));
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q);
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q);
310
311	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.oMi.back().isApprox(data_c.oMi.back()));
312
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setRandom(model.nq);
314	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));
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q, v);
317
318	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.oMi.back().isApprox(data_c.oMi.back()));
319	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.v.back().isApprox(data_c.v.back()));
320
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.setRandom(model.nq);
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v.setRandom(model.nv);
323	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));
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model_c, data_c, q, v, a);
326
327	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.oMi.back().isApprox(data_c.oMi.back()));
328	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.v.back().isApprox(data_c.v.back()));
329	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 28 not taken. ✓ Branch 29 taken 1 times.	2	BOOST_CHECK(data.a.back().isApprox(data_c.a.back()));
330		2	}
331
332			BOOST_AUTO_TEST_SUITE_END()
333