GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	284	284	100.0%
Branches:	1141	2268	50.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2020 CNRS INRIA
3			//
4
5			#include "utils/model-generator.hpp"
6			#include "pinocchio/multibody/sample-models.hpp"
7			#include "pinocchio/algorithm/joint-configuration.hpp"
8			#include "pinocchio/math/quaternion.hpp"
9
10			#include <boost/test/unit_test.hpp>
11			#include <boost/utility/binary.hpp>
12
13			using namespace pinocchio;
14
15			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
16
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18			{
19	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
20	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
21
22	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> qs(2);
23	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> qdots(2);
24	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> results(2);
25
26			//
27			// Test Case 0 : Integration of a config with zero velocity
28			//
29	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	qs[0] = Eigen::VectorXd::Ones(model.nq);
30	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	normalize(model, qs[0]);
31
32	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	qdots[0] = Eigen::VectorXd::Zero(model.nv);
33	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	results[0] = integrate(model, qs[0], qdots[0]);
34
35	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 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_MESSAGE(
36			results[0].isApprox(qs[0], 1e-12),
37			"integration of full body with zero velocity - wrong results");
38		2	}
39
40	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(interpolate_test)
41			{
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
44
45			Eigen::VectorXd q0(randomConfiguration(
46	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)));
47			Eigen::VectorXd q1(randomConfiguration(
48	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)));
49
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q01_0 = interpolate(model, q0, q1, 0.0);
51	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 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_MESSAGE(isSameConfiguration(model, q01_0, q0), "interpolation: q01_0 != q0");
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q01_1 = interpolate(model, q0, q1, 1.0);
54	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 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_MESSAGE(isSameConfiguration(model, q01_1, q1), "interpolation: q01_1 != q1");
55		2	}
56
57	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(diff_integration_test)
58			{
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
61
62	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> qs(2);
63	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> vs(2);
64	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
65	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results_fd(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
66
67	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	qs[0] = Eigen::VectorXd::Ones(model.nq);
68	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	normalize(model, qs[0]);
69
70	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vs[0] = Eigen::VectorXd::Zero(model.nv);
71	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vs[1] = Eigen::VectorXd::Ones(model.nv);
72	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dIntegrate(model, qs[0], vs[0], results[0], ARG0);
73
74	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q_fd(model.nq), v_fd(model.nv);
75	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_fd.setZero();
76		2	const double eps = 1e-8;
77	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 1 times.	50	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
78			{
79	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = eps;
80	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	q_fd = integrate(model, qs[0], v_fd);
81	4/8 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 24 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 24 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 24 times. ✗ Branch 13 not taken.	48	results_fd[0].col(k) = difference(model, qs[0], q_fd) / eps;
82	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = 0.;
83			}
84	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(results[0].isIdentity(sqrt(eps)));
85	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(results[0].isApprox(results_fd[0], sqrt(eps)));
86
87	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dIntegrate(model, qs[0], vs[0], results[1], ARG1);
88	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(results[1].isApprox(results[0]));
89
90	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dIntegrate(model, qs[0], vs[1], results[0], ARG0);
91	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_fd_intermediate(model.nq);
92	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Eigen::VectorXd q0_plus_v = integrate(model, qs[0], vs[1]);
93	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 1 times.	50	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
94			{
95	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = eps;
96	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	q_fd_intermediate = integrate(model, qs[0], v_fd);
97	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	q_fd = integrate(model, q_fd_intermediate, vs[1]);
98	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 24 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken.	48	results_fd[0].col(k) = difference(model, q0_plus_v, q_fd) / eps;
99	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = 0.;
100			}
101
102	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(results[0].isApprox(results_fd[0], sqrt(eps)));
103
104	1/2 ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	dIntegrate(model, qs[0], vs[1], results[1], ARG1);
105	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	v_fd = vs[1];
106	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 1 times.	50	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
107			{
108	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] += eps;
109	1/2 ✓ Branch 2 taken 24 times. ✗ Branch 3 not taken.	48	q_fd = integrate(model, qs[0], v_fd);
110	4/8 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 8 taken 24 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken.	48	results_fd[1].col(k) = difference(model, q0_plus_v, q_fd) / eps;
111	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] -= eps;
112			}
113
114	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(results[1].isApprox(results_fd[1], sqrt(eps)));
115		2	}
116
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118			{
119	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
120	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
121
122	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> qs(2);
123	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> vs(2);
124	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
125	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results_fd(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
126
127	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	qs[0] = Eigen::VectorXd::Random(model.nq);
128	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	normalize(model, qs[0]);
129		2	const Eigen::VectorXd & q0 = qs[0];
130	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	qs[1] = Eigen::VectorXd::Random(model.nq);
131	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	normalize(model, qs[1]);
132		2	const Eigen::VectorXd & q1 = qs[1];
133
134	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vs[0] = Eigen::VectorXd::Zero(model.nv);
135	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	vs[1] = Eigen::VectorXd::Ones(model.nv);
136	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dDifference(model, q0, q1, results[0], ARG0);
137
138	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q_fd(model.nq), v_fd(model.nv);
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	v_fd.setZero();
140		2	const double eps = 1e-8;
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	const Eigen::VectorXd v_ref = difference(model, q0, q1);
142	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 1 times.	50	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
143			{
144	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = eps;
145	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	q_fd = integrate(model, q0, v_fd);
146	5/10 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken.	48	results_fd[0].col(k) = (difference(model, q_fd, q1) - v_ref) / eps;
147	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = 0.;
148			}
149	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(results[0].isApprox(results_fd[0], sqrt(eps)));
150
151	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dDifference(model, q0, q0, results[0], ARG0);
152	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 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((-results[0]).isIdentity());
153
154	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dDifference(model, q0, q0, results[1], ARG1);
155	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(results[1].isIdentity());
156
157	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dDifference(model, q0, q1, results[1], ARG1);
158	2/2 ✓ Branch 0 taken 24 times. ✓ Branch 1 taken 1 times.	50	for (Eigen::DenseIndex k = 0; k < model.nv; ++k)
159			{
160	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = eps;
161	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	q_fd = integrate(model, q1, v_fd);
162	5/10 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 24 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 24 times. ✗ Branch 8 not taken. ✓ Branch 11 taken 24 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 24 times. ✗ Branch 15 not taken.	48	results_fd[1].col(k) = (difference(model, q0, q_fd) - v_ref) / eps;
163	1/2 ✓ Branch 1 taken 24 times. ✗ Branch 2 not taken.	48	v_fd[k] = 0.;
164			}
165	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(results[1].isApprox(results_fd[1], sqrt(eps)));
166		2	}
167
168	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(diff_difference_vs_diff_integrate)
169			{
170	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
172
173	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> qs(2);
174	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	std::vector<Eigen::VectorXd> vs(2);
175	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
176	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results_fd(2, Eigen::MatrixXd::Zero(model.nv, model.nv));
177
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q0 = Eigen::VectorXd::Random(model.nq);
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normalize(model, q0);
180
181	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q1 = integrate(model, q0, v);
183
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd v_diff = difference(model, q0, q1);
185	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_diff.isApprox(v));
186
187	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd J_int_dq = Eigen::MatrixXd::Zero(model.nv, model.nv);
188	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd J_int_dv = Eigen::MatrixXd::Zero(model.nv, model.nv);
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dIntegrate(model, q0, v, J_int_dq, ARG0);
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dIntegrate(model, q0, v, J_int_dv, ARG1);
191
192	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd J_diff_dq0 = Eigen::MatrixXd::Zero(model.nv, model.nv);
193	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::MatrixXd J_diff_dq1 = Eigen::MatrixXd::Zero(model.nv, model.nv);
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dDifference(model, q0, q1, J_diff_dq0, ARG0);
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dDifference(model, q0, q1, J_diff_dq1, ARG1);
196
197	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 36 not taken. ✓ Branch 37 taken 1 times.	2	BOOST_CHECK(J_int_dq.isApprox(Eigen::MatrixXd(-(J_int_dv * J_diff_dq0))));
198	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 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 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK(Eigen::MatrixXd(J_int_dv * J_diff_dq1).isIdentity());
199		2	}
200
201	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(dIntegrate_assignementop_test)
202			{
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
204	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
205
206	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> results(3, Eigen::MatrixXd::Zero(model.nv, model.nv));
207
208	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd qs = Eigen::VectorXd::Ones(model.nq);
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	normalize(model, qs);
210
211	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd vs = Eigen::VectorXd::Random(model.nv);
212
213			// SETTO
214	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG0);
215	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG0, SETTO);
216	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(results[0].isApprox(results[1]));
217
218			// ADDTO
219	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	results[1] = Eigen::MatrixXd::Random(model.nv, model.nv);
220	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	results[2] = results[1];
221	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
222	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG0, SETTO);
223	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG0, ADDTO);
224	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(results[1].isApprox(results[2] + results[0]));
225
226			// RMTO
227	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	results[1] = Eigen::MatrixXd::Random(model.nv, model.nv);
228	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	results[2] = results[1];
229	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
230	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG0, SETTO);
231	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG0, RMTO);
232	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(results[1].isApprox(results[2] - results[0]));
233
234			// SETTO
235	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
236	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[1].setZero();
237	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG1);
238	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG1, SETTO);
239	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(results[0].isApprox(results[1]));
240
241			// ADDTO
242	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	results[1] = Eigen::MatrixXd::Random(model.nv, model.nv);
243	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	results[2] = results[1];
244	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
245	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG1, SETTO);
246	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG1, ADDTO);
247	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(results[1].isApprox(results[2] + results[0]));
248
249			// RMTO
250	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	results[1] = Eigen::MatrixXd::Random(model.nv, model.nv);
251	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	results[2] = results[1];
252	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
253	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG1, SETTO);
254	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[1], ARG1, RMTO);
255	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(results[1].isApprox(results[2] - results[0]));
256
257			// Transport
258	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	4	std::vector<Eigen::MatrixXd> J(2, Eigen::MatrixXd::Zero(model.nv, 2 * model.nv));
259	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	J[0] = Eigen::MatrixXd::Random(model.nv, 2 * model.nv);
260	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
261	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG0, SETTO);
262	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	dIntegrateTransport(model, qs, vs, J[0], J[1], ARG0);
263	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(J[1].isApprox(results[0] * J[0]));
264
265	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	J[0] = Eigen::MatrixXd::Random(model.nv, 2 * model.nv);
266	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
267	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG1, SETTO);
268	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	dIntegrateTransport(model, qs, vs, J[0], J[1], ARG1);
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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(J[1].isApprox(results[0] * J[0]));
270
271			// TransportInPlace
272	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	J[1] = Eigen::MatrixXd::Random(model.nv, 2 * model.nv);
273	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	J[0] = J[1];
274	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
275	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG0, SETTO);
276	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrateTransport(model, qs, vs, J[1], ARG0);
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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(J[1].isApprox(results[0] * J[0]));
278
279	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	J[1] = Eigen::MatrixXd::Random(model.nv, 2 * model.nv);
280	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	J[0] = J[1];
281	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	results[0].setZero();
282	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrate(model, qs, vs, results[0], ARG1, SETTO);
283	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	dIntegrateTransport(model, qs, vs, J[1], ARG1);
284	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 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(J[1].isApprox(results[0] * J[0]));
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(integrate_difference_test)
288			{
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
291
292			Eigen::VectorXd q0(randomConfiguration(
293	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)));
294			Eigen::VectorXd q1(randomConfiguration(
295	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)));
296	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd qdot(Eigen::VectorXd::Random(model.nv));
297
298	9/18 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_MESSAGE(
299			isSameConfiguration(model, integrate(model, q0, difference(model, q0, q1)), q1),
300			"Integrate (difference) - wrong results");
301
302	9/18 ✓ 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 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 33 not taken. ✓ Branch 34 taken 1 times.	2	BOOST_CHECK_MESSAGE(
303			difference(model, q0, integrate(model, q0, qdot)).isApprox(qdot),
304			"difference (integrate) - wrong results");
305		2	}
306
307	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(neutral_configuration_test)
308			{
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd expected(model.nq);
313	27/54 ✓ 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. ✓ 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 64 taken 1 times. ✗ Branch 65 not taken. ✓ Branch 67 taken 1 times. ✗ Branch 68 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 76 taken 1 times. ✗ Branch 77 not taken. ✓ Branch 79 taken 1 times. ✗ Branch 80 not taken.	2	expected << 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
314
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd neutral_config = neutral(model);
316	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(
317			neutral_config.isApprox(expected, 1e-12), "neutral configuration - wrong results");
318		2	}
319
320	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(distance_configuration_test)
321			{
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
323	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
324
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model::ConfigVectorType q0 = neutral(model);
326	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model::ConfigVectorType q1(integrate(model, q0, Model::TangentVectorType::Ones(model.nv)));
327
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double dist = distance(model, q0, q1);
329
330	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(dist > 0., "distance - wrong results");
331	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 24 not taken. ✓ Branch 25 taken 1 times.	2	BOOST_CHECK_SMALL(dist - difference(model, q0, q1).norm(), 1e-12);
332		2	}
333
334	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(squared_distance_test)
335			{
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
337	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
338
339			Eigen::VectorXd q0(randomConfiguration(
340	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)));
341			Eigen::VectorXd q1(randomConfiguration(
342	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)));
343
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double dist = distance(model, q0, q1);
345	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd squaredDistance_ = squaredDistance(model, q0, q1);
346
347	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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_SMALL(dist - math::sqrt(squaredDistance_.sum()), 1e-12);
348		2	}
349
350	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(uniform_sampling_test)
351			{
352	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
353	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
354
355	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.lowerPositionLimit = -1 * Eigen::VectorXd::Ones(model.nq);
356	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit = Eigen::VectorXd::Ones(model.nq);
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q1(randomConfiguration(model));
358
359	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (int i = 0; i < model.nq; ++i)
360			{
361	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✗ Branch 37 not taken. ✓ Branch 38 taken 27 times.	54	BOOST_CHECK_MESSAGE(
362			q1[i] >= model.lowerPositionLimit[i] && q1[i] <= model.upperPositionLimit[i],
363			" UniformlySample : Generated config not in bounds");
364			}
365		2	}
366
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368			{
369	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
371
372	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q(Eigen::VectorXd::Ones(model.nq));
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::normalize(model, q);
374
375	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(q.head<3>().isApprox(Eigen::VectorXd::Ones(3)));
376	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 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(
377			fabs(q.segment<4>(3).norm() - 1)
378			< Eigen::NumTraits<double>::epsilon()); // quaternion of freeflyer
379	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 17 taken 1 times. ✗ Branch 18 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(
380			fabs(q.segment<4>(7).norm() - 1)
381			< Eigen::NumTraits<double>::epsilon()); // quaternion of spherical joint
382		2	const int n = model.nq - 7 - 4 - 4; // free flyer + spherical + planar
383	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✗ Branch 32 not taken. ✓ Branch 33 taken 1 times.	2	BOOST_CHECK(q.tail(n).isApprox(Eigen::VectorXd::Ones(n)));
384		2	}
385
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387			{
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
389	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildAllJointsModel(model);
390
391	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q;
392	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q = Eigen::VectorXd::Ones(model.nq);
393	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(!pinocchio::isNormalized(model, q));
394	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(!pinocchio::isNormalized(model, q, 1e-8));
395	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(pinocchio::isNormalized(model, q, 1e2));
396
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::normalize(model, q);
398	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(pinocchio::isNormalized(model, q));
399	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(pinocchio::isNormalized(model, q, 1e-8));
400
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q = pinocchio::neutral(model);
402	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(pinocchio::isNormalized(model, q));
403	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(pinocchio::isNormalized(model, q, 1e-8));
404
405	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.lowerPositionLimit = -1 * Eigen::VectorXd::Ones(model.nq);
406	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit = Eigen::VectorXd::Ones(model.nq);
407	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q = pinocchio::randomConfiguration(model);
408	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(pinocchio::isNormalized(model, q));
409	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(pinocchio::isNormalized(model, q, 1e-8));
410		2	}
411
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413			{
414	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
416
417	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q(Eigen::VectorXd::Ones(model.nq));
418	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::normalize(model, q);
419
420	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd jac(model.nq, model.nv);
421	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jac.setZero();
422
423	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	integrateCoeffWiseJacobian(model, q, jac);
424
425	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd jac_fd(model.nq, model.nv);
426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus;
427		2	const double eps = 1e-8;
428
429	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v_eps(Eigen::VectorXd::Zero(model.nv));
430	2/2 ✓ Branch 0 taken 32 times. ✓ Branch 1 taken 1 times.	66	for (int k = 0; k < model.nv; ++k)
431			{
432	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] = eps;
433	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	q_plus = integrate(model, q, v_eps);
434	4/8 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 32 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 32 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 32 times. ✗ Branch 11 not taken.	64	jac_fd.col(k) = (q_plus - q) / eps;
435
436	1/2 ✓ Branch 1 taken 32 times. ✗ Branch 2 not taken.	64	v_eps[k] = 0.;
437			}
438	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(jac.isApprox(jac_fd, sqrt(eps)));
439		2	}
440
441			BOOST_AUTO_TEST_SUITE_END()
442