GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	169	169	100.0%
Branches:	734	1468	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2020 CNRS INRIA
3			// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4			//
5
6			#include "pinocchio/math/fwd.hpp"
7			#include "pinocchio/multibody/joint/joints.hpp"
8			#include "pinocchio/algorithm/rnea.hpp"
9			#include "pinocchio/algorithm/aba.hpp"
10			#include "pinocchio/algorithm/crba.hpp"
11			#include "pinocchio/algorithm/jacobian.hpp"
12			#include "pinocchio/algorithm/compute-all-terms.hpp"
13
14			#include <boost/test/unit_test.hpp>
15			#include <iostream>
16
17			using namespace pinocchio;
18
19			template<typename D>
20		8	void addJointAndBody(
21			Model & model,
22			const JointModelBase<D> & jmodel,
23			const Model::JointIndex parent_id,
24			const SE3 & joint_placement,
25			const std::string & joint_name,
26			const Inertia & Y)
27			{
28			Model::JointIndex idx;
29
30	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	idx = model.addJoint(parent_id, jmodel, joint_placement, joint_name);
31	1/2 ✓ Branch 2 taken 4 times. ✗ Branch 3 not taken.	8	model.appendBodyToJoint(idx, Y);
32		8	}
33
34			BOOST_AUTO_TEST_SUITE(JointPrismatic)
35
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37			{
38			typedef TransformPrismaticTpl<double, 0, 0> TransformX;
39			typedef TransformPrismaticTpl<double, 0, 1> TransformY;
40			typedef TransformPrismaticTpl<double, 0, 2> TransformZ;
41
42			typedef SE3::Vector3 Vector3;
43
44		2	const double displacement = 0.2;
45	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	SE3 Mplain, Mrand(SE3::Random());
46
47		2	TransformX Mx(displacement);
48	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = Mx;
49	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(Mplain.translation().isApprox(Vector3(displacement, 0, 0)));
50	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(Mplain.rotation().isIdentity());
51	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 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 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mx));
52
53		2	TransformY My(displacement);
54	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = My;
55	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(Mplain.translation().isApprox(Vector3(0, displacement, 0)));
56	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(Mplain.rotation().isIdentity());
57	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 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 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * My));
58
59		2	TransformZ Mz(displacement);
60	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = Mz;
61	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(Mplain.translation().isApprox(Vector3(0, 0, displacement)));
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63	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 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 30 taken 1 times. ✗ Branch 31 not taken. ✗ Branch 35 not taken. ✓ Branch 36 taken 1 times.	2	BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mz));
64
65	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
67
68		2	MotionPrismaticTpl<double, 0, 0> mp_x(2.);
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_x(mp_x);
70
71	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(M.act(mp_x).isApprox(M.act(mp_dense_x)));
72	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(M.actInv(mp_x).isApprox(M.actInv(mp_dense_x)));
73
74	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(v.cross(mp_x).isApprox(v.cross(mp_dense_x)));
75
76		2	MotionPrismaticTpl<double, 0, 1> mp_y(2.);
77	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_y(mp_y);
78
79	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(M.act(mp_y).isApprox(M.act(mp_dense_y)));
80	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(M.actInv(mp_y).isApprox(M.actInv(mp_dense_y)));
81
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83
84		2	MotionPrismaticTpl<double, 0, 2> mp_z(2.);
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_z(mp_z);
86
87	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(M.act(mp_z).isApprox(M.act(mp_dense_z)));
88	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(M.actInv(mp_z).isApprox(M.actInv(mp_dense_z)));
89
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91		2	}
92
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94			{
95			using namespace pinocchio;
96
97	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion expected_v_J(Motion::Zero());
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion expected_c_J(Motion::Zero());
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 expected_configuration(SE3::Identity());
101
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointDataPX joint_data;
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPX joint_model;
104
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	joint_model.setIndexes(0, 0, 0);
106
107	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(1));
108	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd q_dot(Eigen::VectorXd::Zero(1));
109
110			// -------
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << 0.;
112	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_dot << 0.;
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	joint_model.calc(joint_data, q, q_dot);
115
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120
121			// -------
122	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << 1.;
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_dot << 1.;
124
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	joint_model.calc(joint_data, q, q_dot);
126
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128
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130
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132	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(expected_configuration.translation().isApprox(joint_data.M.translation(), 1e-12));
133	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 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(expected_v_J.toVector().isApprox(((Motion)joint_data.v).toVector(), 1e-12));
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135		2	}
136
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138			{
139			using namespace pinocchio;
140			typedef SE3::Vector3 Vector3;
141			typedef SE3::Matrix3 Matrix3;
142
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
144	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	Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity());
145
146	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	10	addJointAndBody(
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	8	model, JointModelPX(), model.getJointId("universe"), SE3::Identity(), "root", inertia);
148
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
150
151	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));
152	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::Zero(model.nv));
153	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd a(Eigen::VectorXd::Zero(model.nv));
154
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
156
157	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tau_expected(Eigen::VectorXd::Zero(model.nq));
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tau_expected << 0;
159
160	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(tau_expected.isApprox(data.tau, 1e-14));
161
162			// -----
163	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);
164	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v = Eigen::VectorXd::Ones(model.nv);
165	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	a = Eigen::VectorXd::Ones(model.nv);
166
167	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
168	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tau_expected << 1;
169
170	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(tau_expected.isApprox(data.tau, 1e-12));
171
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << 3;
173	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v = Eigen::VectorXd::Ones(model.nv);
174	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	a = Eigen::VectorXd::Ones(model.nv);
175
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	rnea(model, data, q, v, a);
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	tau_expected << 1;
178
179	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(tau_expected.isApprox(data.tau, 1e-12));
180		2	}
181
182	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_crba)
183			{
184			using namespace pinocchio;
185			using namespace std;
186			typedef SE3::Vector3 Vector3;
187			typedef SE3::Matrix3 Matrix3;
188
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
190	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	Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity());
191
192	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 1 times. ✗ Branch 7 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 1 times. ✗ Branch 13 not taken.	10	addJointAndBody(
193	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	8	model, JointModelPX(), model.getJointId("universe"), SE3::Identity(), "root", inertia);
194
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
196
197	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));
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd M_expected(model.nv, model.nv);
199
200	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
201	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	M_expected << 1.0;
202
203	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(M_expected.isApprox(data.M, 1e-14));
204
205	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);
206
207	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
208
209	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(M_expected.isApprox(data.M, 1e-12));
210
211	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q << 3;
212
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
214
215	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(M_expected.isApprox(data.M, 1e-10));
216		2	}
217
218			BOOST_AUTO_TEST_SUITE_END()
219
220			BOOST_AUTO_TEST_SUITE(JointPrismaticUnaligned)
221
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223			{
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
226
227	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	MotionPrismaticUnaligned mp(MotionPrismaticUnaligned::Vector3(1., 2., 3.), 6.);
228	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense(mp);
229
230	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(M.act(mp).isApprox(M.act(mp_dense)));
231	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(M.actInv(mp).isApprox(M.actInv(mp_dense)));
232
233	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(v.cross(mp).isApprox(v.cross(mp_dense)));
234		2	}
235
236	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(vsPX)
237			{
238			using namespace pinocchio;
239			typedef SE3::Vector3 Vector3;
240			typedef SE3::Matrix3 Matrix3;
241
242	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Vector3d axis;
243	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	axis << 1.0, 0.0, 0.0;
244
245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model modelPX, modelPrismaticUnaligned;
246
247	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	Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity());
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
249	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	pos.translation() = SE3::LinearType(1., 0., 0.);
250
251	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelPrismaticUnaligned joint_model_PU(axis);
252
253	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken.	2	addJointAndBody(modelPX, JointModelPX(), 0, pos, "px", inertia);
254	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	addJointAndBody(modelPrismaticUnaligned, joint_model_PU, 0, pos, "prismatic-unaligned", inertia);
255
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataPX(modelPX);
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataPrismaticUnaligned(modelPrismaticUnaligned);
258
259	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(modelPX.nq);
260	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::Ones(modelPX.nv);
261	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauPX = Eigen::VectorXd::Ones(modelPX.nv);
262	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauPrismaticUnaligned = Eigen::VectorXd::Ones(modelPrismaticUnaligned.nv);
263	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aPX = Eigen::VectorXd::Ones(modelPX.nv);
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aPrismaticUnaligned(aPX);
265
266	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelPX, dataPX, q, v);
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v);
268
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelPX, dataPX, q, v);
270	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v);
271
272	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(dataPrismaticUnaligned.oMi[1].isApprox(dataPX.oMi[1]));
273	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(dataPrismaticUnaligned.liMi[1].isApprox(dataPX.liMi[1]));
274	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(dataPrismaticUnaligned.Ycrb[1].matrix().isApprox(dataPX.Ycrb[1].matrix()));
275	9/18 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 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 29 taken 1 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 1 times.	2	BOOST_CHECK(dataPrismaticUnaligned.f[1].toVector().isApprox(dataPX.f[1].toVector()));
276
277	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 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(dataPrismaticUnaligned.nle.isApprox(dataPX.nle));
278	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(dataPrismaticUnaligned.com[0].isApprox(dataPX.com[0]));
279
280			// InverseDynamics == rnea
281	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauPX = rnea(modelPX, dataPX, q, v, aPX);
282			tauPrismaticUnaligned =
283	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rnea(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v, aPrismaticUnaligned);
284
285	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(tauPX.isApprox(tauPrismaticUnaligned));
286
287			// ForwardDynamics == aba
288	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aAbaPX = aba(modelPX, dataPX, q, v, tauPX, Convention::WORLD);
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aAbaPrismaticUnaligned = aba(
290			modelPrismaticUnaligned, dataPrismaticUnaligned, q, v, tauPrismaticUnaligned,
291	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convention::WORLD);
292
293	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(aAbaPX.isApprox(aAbaPrismaticUnaligned));
294
295			// crba
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelPX, dataPX, q, Convention::WORLD);
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelPrismaticUnaligned, dataPrismaticUnaligned, q, Convention::WORLD);
298
299	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(dataPX.M.isApprox(dataPrismaticUnaligned.M));
300
301			// Jacobian
302	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPX;
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPX.resize(6, 1);
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPX.setZero();
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPrismaticUnaligned;
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPrismaticUnaligned.resize(6, 1);
307	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPrismaticUnaligned.setZero();
308	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelPX, dataPX, q);
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelPrismaticUnaligned, dataPrismaticUnaligned, q);
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelPX, dataPX, 1, LOCAL, jacobianPX);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(
312			modelPrismaticUnaligned, dataPrismaticUnaligned, 1, LOCAL, jacobianPrismaticUnaligned);
313
314	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(jacobianPX.isApprox(jacobianPrismaticUnaligned));
315		2	}
316
317			BOOST_AUTO_TEST_SUITE_END()
318