GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	192	192	100.0%
Branches:	454	940	48.3%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/jacobian.hpp"
8			#include "pinocchio/algorithm/kinematics.hpp"
9			#include "pinocchio/algorithm/rnea.hpp"
10			#include "pinocchio/spatial/act-on-set.hpp"
11			#include "pinocchio/multibody/sample-models.hpp"
12			#include "pinocchio/utils/timer.hpp"
13			#include "pinocchio/algorithm/joint-configuration.hpp"
14
15			#include <iostream>
16
17			#include <boost/test/unit_test.hpp>
18			#include <boost/utility/binary.hpp>
19
20			template<typename Derived>
21		1	inline bool isFinite(const Eigen::MatrixBase<Derived> & x)
22			{
23	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	1	return ((x - x).array() == (x - x).array()).all();
24			}
25
26			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
27
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29			{
30			using namespace Eigen;
31			using namespace pinocchio;
32
33	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
34	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
35	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
36
37	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd q = VectorXd::Zero(model.nq);
38	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
39
40			Model::Index idx =
41	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm2") ? model.getJointId("rarm2") : (Model::Index)(model.njoints - 1);
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, WORLD, Jrh);
45
46			/* Test Jq == v /
47	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd qdot = VectorXd::Random(model.nv);
48	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd qddot = VectorXd::Zero(model.nv);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, qdot, qddot);
50	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	Motion v = data.oMi[idx].act(data.v[idx]);
51	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(v.toVector().isApprox(Jrh * qdot, 1e-12));
52
53			/* Test local jacobian: rhJrh == rhXo oJrh */
54	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x rhJrh(6, model.nv);
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rhJrh.fill(0);
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL, rhJrh);
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x XJrh(6, model.nv);
58	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	motionSet::se3Action(data.oMi[idx].inverse(), Jrh, XJrh);
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60
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	XJrh.setZero();
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_jointJacobian(model);
63	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobian(model, data_jointJacobian, q, idx, XJrh);
64	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(XJrh.isApprox(rhJrh, 1e-12));
65
66			/* Test computeJointJacobians with pre-computation of the forward kinematics */
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data_fk(model);
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_fk, q);
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_fk);
70
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72		2	}
73
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75			{
76			using namespace Eigen;
77			using namespace pinocchio;
78
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
80	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data_ref(model);
83
84			VectorXd q = randomConfiguration(
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86	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);
87	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);
88
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
90
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92
93	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q, v, a);
94			Model::Index idx =
95	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm2") ? model.getJointId("rarm2") : (Model::Index)(model.njoints - 1);
96
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J(6, model.nv);
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J.fill(0.);
99	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
101
102			// Regarding to the WORLD origin
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, WORLD, J);
104	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, WORLD)));
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, WORLD, dJ);
106
107	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Motion v_idx(J * v);
108	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 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 1 times. ✗ Branch 27 not taken. ✗ Branch 31 not taken. ✓ Branch 32 taken 1 times.	2	BOOST_CHECK(v_idx.isApprox(data_ref.oMi[idx].act(data_ref.v[idx])));
109
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111	1/2 ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	const Motion & a_ref = data_ref.oMi[idx].act(data_ref.a[idx]);
112	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(a_idx.isApprox(a_ref));
113
114			// Regarding to the LOCAL frame
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL, J);
116	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, LOCAL)));
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL, dJ);
118
119	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_idx = (Motion::Vector6)(J * v);
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121
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124
125			// Regarding to the LOCAL_WORLD_ALIGNED frame
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J);
127	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(J.isApprox(getJointJacobian(model, data, idx, LOCAL_WORLD_ALIGNED)));
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
129
130	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::SE3 worldMlocal = data.oMi[idx];
131	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	worldMlocal.translation().setZero();
132	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	Data::Motion world_v_local = data.ov[idx];
133	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	world_v_local.linear().setZero();
134
135	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_idx = (Motion::Vector6)(J * v);
136	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 1 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 1 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 1 times.	2	BOOST_CHECK(v_idx.isApprox(worldMlocal.act(data_ref.v[idx])));
137
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140			world_v_local.cross(worldMlocal.act(data_ref.v[idx])) + worldMlocal.act(data_ref.a[idx])));
141
142			// compare to finite differencies : WORLD
143			{
144	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
145
146		2	const double alpha = 1e-8;
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
148	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
149
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
152	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, WORLD, J_ref);
154
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus);
159
160	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
161	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ_ref.fill(0.);
162	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	dJ_ref = (J_ref_plus - J_ref) / alpha;
163
164	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
165	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
166	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, WORLD, dJ);
168
169	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(dJ.isApprox(dJ_ref, sqrt(alpha)));
170		2	}
171
172			// compare to finite differencies : LOCAL
173			{
174	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
175
176		2	const double alpha = 1e-8;
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
178	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
179
180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, LOCAL, J_ref);
184
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
187	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus);
189
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
191	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	dJ_ref = (J_ref_plus - J_ref) / alpha;
192
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL, dJ);
197
198	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(dJ.isApprox(dJ_ref, sqrt(alpha)));
199		2	}
200
201			// compare to finite differencies : LOCAL_WORLD_ALIGNED
202			{
203	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data_ref(model), data_ref_plus(model);
204
205		2	const double alpha = 1e-8;
206	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd q_plus(model.nq);
207	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q_plus = integrate(model, q, alpha * v);
208
209	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref(6, model.nv);
210	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref.fill(0.);
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref, q);
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref);
213
214	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x J_ref_plus(6, model.nv);
215	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	J_ref_plus.fill(0.);
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data_ref_plus, q_plus);
217	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus);
218
219	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ_ref(6, model.nv);
220	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	dJ_ref = (J_ref_plus - J_ref) / alpha;
221
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobiansTimeVariation(model, data, q, v);
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x dJ(6, model.nv);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	dJ.fill(0.);
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ);
226
227	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 21 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK(dJ.isApprox(dJ_ref, sqrt(alpha)));
228		2	}
229		2	}
230
231	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_timings)
232			{
233			using namespace Eigen;
234			using namespace pinocchio;
235
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Model model;
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::buildModels::humanoidRandom(model);
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	pinocchio::Data data(model);
239
240		2	long flag = BOOST_BINARY(1111);
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	PinocchioTicToc timer(PinocchioTicToc::US);
242			#ifdef NDEBUG
243			#ifdef _INTENSE_TESTING_
244			const size_t NBT = 1000 * 1000;
245			#else
246			const size_t NBT = 10;
247			#endif
248			#else
249		2	const size_t NBT = 1;
250	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "(the time score in debug mode is not relevant) ";
251			#endif
252
253		2	bool verbose = flag & (flag - 1); // True is two or more binaries of the flag are 1.
254	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
255	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "--" << std::endl;
256	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::Zero(model.nq);
257
258	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 0 & 1)
259			{
260	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
261	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
262			{
263	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
264			}
265	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Compute =\t";
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
268			}
269
270	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 1 & 1)
271			{
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
273			Model::Index idx =
274	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
275	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
277
278	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
279	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
280			{
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, WORLD, Jrh);
282			}
283	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Copy =\t";
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
286		2	}
287
288	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 2 & 1)
289			{
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
291			Model::Index idx =
292	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
293	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
294	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
295
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
297	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
298			{
299	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(model, data, idx, LOCAL, Jrh);
300			}
301	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Change frame =\t";
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
304		2	}
305
306	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (flag >> 3 & 1)
307			{
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(model, data, q);
309			Model::Index idx =
310	5/18 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 11 not taken. ✗ Branch 12 not taken. ✗ Branch 14 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 20 taken 1 times. ✗ Branch 24 not taken. ✗ Branch 25 not taken. ✗ Branch 27 not taken. ✗ Branch 28 not taken.	2	model.existJointName("rarm6") ? model.getJointId("rarm6") : (Model::Index)(model.njoints - 1);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x Jrh(6, model.nv);
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Jrh.fill(0);
313
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.tic();
315	2/2 ✓ Branch 0 taken 1 times. ✓ Branch 1 taken 1 times.	4	SMOOTH(NBT)
316			{
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobian(model, data, q, idx, Jrh);
318			}
319	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	if (verbose)
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::cout << "Single jacobian =\t";
321	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	timer.toc(std::cout, NBT);
322		2	}
323		2	}
324
325			BOOST_AUTO_TEST_SUITE_END()
326