GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	225	225	100.0%
Branches:	894	1788	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2015-2021 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		12	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 6 times. ✗ Branch 3 not taken.	12	idx = model.addJoint(parent_id, jmodel, joint_placement, joint_name);
31	1/2 ✓ Branch 2 taken 6 times. ✗ Branch 3 not taken.	12	model.appendBodyToJoint(idx, Y);
32		12	}
33
34			BOOST_AUTO_TEST_SUITE(JointRevoluteUnaligned)
35
36	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(vsRX)
37			{
38			using namespace pinocchio;
39			typedef SE3::Vector3 Vector3;
40			typedef SE3::Matrix3 Matrix3;
41
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 axis;
43	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;
44
45	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model modelRX, modelRevoluteUnaligned;
46
47	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());
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
49	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.);
50
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelRevoluteUnaligned joint_model_RU(axis);
52
53	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(modelRX, JointModelRX(), 0, pos, "rx", inertia);
54	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	addJointAndBody(modelRevoluteUnaligned, joint_model_RU, 0, pos, "revolute-unaligned", inertia);
55
56	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRX(modelRX);
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRevoluteUnaligned(modelRevoluteUnaligned);
58
59	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(modelRX.nq);
60	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(modelRX.nv);
61	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRX.nv);
62	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRevoluteUnaligned = Eigen::VectorXd::Ones(modelRevoluteUnaligned.nv);
63	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRX.nv);
64	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aRevoluteUnaligned(aRX);
65
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRX, dataRX, q, v);
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v);
68
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRX, dataRX, q, v);
70	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v);
71
72	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(dataRevoluteUnaligned.oMi[1].isApprox(dataRX.oMi[1]));
73	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(dataRevoluteUnaligned.liMi[1].isApprox(dataRX.liMi[1]));
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 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(dataRevoluteUnaligned.Ycrb[1].matrix().isApprox(dataRX.Ycrb[1].matrix()));
75	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(dataRevoluteUnaligned.f[1].toVector().isApprox(dataRX.f[1].toVector()));
76
77	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(dataRevoluteUnaligned.nle.isApprox(dataRX.nle));
78	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(dataRevoluteUnaligned.com[0].isApprox(dataRX.com[0]));
79
80			// InverseDynamics == rnea
81	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauRX = rnea(modelRX, dataRX, q, v, aRX);
82			tauRevoluteUnaligned =
83	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rnea(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v, aRevoluteUnaligned);
84
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 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(tauRX.isApprox(tauRevoluteUnaligned));
86
87			// ForwardDynamics == aba
88	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aAbaRX = aba(modelRX, dataRX, q, v, tauRX, Convention::WORLD);
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aAbaRevoluteUnaligned = aba(
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	modelRevoluteUnaligned, dataRevoluteUnaligned, q, v, tauRevoluteUnaligned, Convention::WORLD);
91
92	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(aAbaRX.isApprox(aAbaRevoluteUnaligned));
93
94			// CRBA
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRX, dataRX, q, Convention::WORLD);
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRevoluteUnaligned, dataRevoluteUnaligned, q, Convention::WORLD);
97
98	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(dataRX.M.isApprox(dataRevoluteUnaligned.M));
99
100			// Jacobian
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianRX;
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRX.resize(6, 1);
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRX.setZero();
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianRevoluteUnaligned;
105	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRevoluteUnaligned.resize(6, 1);
106	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRevoluteUnaligned.setZero();
107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRX, dataRX, q);
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRevoluteUnaligned, dataRevoluteUnaligned, q);
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelRX, dataRX, 1, LOCAL, jacobianRX);
110	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(
111			modelRevoluteUnaligned, dataRevoluteUnaligned, 1, LOCAL, jacobianRevoluteUnaligned);
112
113	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(jacobianRX.isApprox(jacobianRevoluteUnaligned));
114		2	}
115			BOOST_AUTO_TEST_SUITE_END()
116
117			BOOST_AUTO_TEST_SUITE(JointRevoluteUnboundedUnaligned)
118
119	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(vsRUX)
120			{
121			using namespace pinocchio;
122			typedef SE3::Vector3 Vector3;
123			typedef SE3::Matrix3 Matrix3;
124
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Vector3 axis;
126	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;
127
128	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model modelRUX, modelRevoluteUboundedUnaligned;
129
130	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());
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 pos(1);
132	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.);
133
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	JointModelRevoluteUnboundedUnaligned joint_model_RUU(axis);
135			typedef traits<JointRevoluteUnboundedUnalignedTpl<double>>::TangentVector_t TangentVector;
136
137	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(modelRUX, JointModelRUBX(), 0, pos, "rux", inertia);
138	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	addJointAndBody(
139			modelRevoluteUboundedUnaligned, joint_model_RUU, 0, pos, "revolute-unbounded-unaligned",
140			inertia);
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRUX(modelRUX);
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRevoluteUnboundedUnaligned(modelRevoluteUboundedUnaligned);
144
145	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(modelRUX.nq);
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q.normalize();
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	TangentVector v = TangentVector::Ones(modelRUX.nv);
148	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRUX.nv);
149	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRevoluteUnaligned = Eigen::VectorXd::Ones(modelRevoluteUboundedUnaligned.nv);
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRUX.nv);
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aRevoluteUnaligned(aRX);
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRUX, dataRUX, q, v);
154	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v);
155
156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRUX, dataRUX, q, v);
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v);
158
159	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(dataRevoluteUnboundedUnaligned.oMi[1].isApprox(dataRUX.oMi[1]));
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 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(dataRevoluteUnboundedUnaligned.liMi[1].isApprox(dataRUX.liMi[1]));
161	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(dataRevoluteUnboundedUnaligned.Ycrb[1].matrix().isApprox(dataRUX.Ycrb[1].matrix()));
162	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(dataRevoluteUnboundedUnaligned.f[1].toVector().isApprox(dataRUX.f[1].toVector()));
163
164	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(dataRevoluteUnboundedUnaligned.nle.isApprox(dataRUX.nle));
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 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(dataRevoluteUnboundedUnaligned.com[0].isApprox(dataRUX.com[0]));
166
167			// InverseDynamics == rnea
168	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauRX = rnea(modelRUX, dataRUX, q, v, aRX);
169			tauRevoluteUnaligned =
170	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rnea(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v, aRevoluteUnaligned);
171
172	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(tauRX.isApprox(tauRevoluteUnaligned));
173
174			// ForwardDynamics == aba
175	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aAbaRX = aba(modelRUX, dataRUX, q, v, tauRX, Convention::WORLD);
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aAbaRevoluteUnaligned = aba(
177			modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v, tauRevoluteUnaligned,
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convention::WORLD);
179
180	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(aAbaRX.isApprox(aAbaRevoluteUnaligned));
181
182			// CRBA
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRUX, dataRUX, q, Convention::WORLD);
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, Convention::WORLD);
185
186	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(dataRUX.M.isApprox(dataRevoluteUnboundedUnaligned.M));
187
188			// Jacobian
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x jacobianRUX;
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRUX.resize(6, 1);
191	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRUX.setZero();
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data::Matrix6x jacobianRevoluteUnboundedUnaligned;
193	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRevoluteUnboundedUnaligned.resize(6, 1);
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianRevoluteUnboundedUnaligned.setZero();
195
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRUX, dataRUX, q);
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q);
198	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelRUX, dataRUX, 1, LOCAL, jacobianRUX);
199	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(
200			modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, 1, LOCAL,
201			jacobianRevoluteUnboundedUnaligned);
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 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(jacobianRUX.isApprox(jacobianRevoluteUnboundedUnaligned));
204		2	}
205
206			BOOST_AUTO_TEST_SUITE_END()
207
208			BOOST_AUTO_TEST_SUITE(JointRevoluteUnbounded)
209
210	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(spatial)
211			{
212	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
213	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
214
215		2	MotionRevoluteTpl<double, 0, 0> mp_x(2.);
216	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_x(mp_x);
217
218	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)));
219	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)));
220
221	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)));
222
223		2	MotionRevoluteTpl<double, 0, 1> mp_y(2.);
224	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_y(mp_y);
225
226	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)));
227	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)));
228
229	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_y).isApprox(v.cross(mp_dense_y)));
230
231		2	MotionRevoluteTpl<double, 0, 2> mp_z(2.);
232	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_z(mp_z);
233
234	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)));
235	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)));
236
237	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_z).isApprox(v.cross(mp_dense_z)));
238		2	}
239
240	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(vsRX)
241			{
242			typedef SE3::Vector3 Vector3;
243			typedef SE3::Matrix3 Matrix3;
244
245	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Model modelRX, modelRevoluteUnbounded;
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	JointModelRUBX joint_model_RUX;
252	4/8 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken.	2	addJointAndBody(modelRX, JointModelRX(), 0, SE3::Identity(), "rx", inertia);
253	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	6	addJointAndBody(
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	4	modelRevoluteUnbounded, joint_model_RUX, 0, SE3::Identity(), "revolute unbounded x", inertia);
255
256	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRX(modelRX);
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data dataRevoluteUnbounded(modelRevoluteUnbounded);
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_rx = Eigen::VectorXd::Ones(modelRX.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 q_rubx = Eigen::VectorXd::Ones(modelRevoluteUnbounded.nq);
261			double ca, sa;
262	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	double alpha = q_rx(0);
263		2	SINCOS(alpha, &sa, &ca);
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_rubx(0) = ca;
265	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	q_rubx(1) = sa;
266	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd v_rx = Eigen::VectorXd::Ones(modelRX.nv);
267	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd v_rubx = v_rx;
268	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRX.nv);
269	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd tauRevoluteUnbounded = Eigen::VectorXd::Ones(modelRevoluteUnbounded.nv);
270	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRX.nv);
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aRevoluteUnbounded = aRX;
272
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRX, dataRX, q_rx, v_rx);
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx);
275
276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRX, dataRX, q_rx, v_rx);
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeAllTerms(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx);
278
279	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(dataRevoluteUnbounded.oMi[1].isApprox(dataRX.oMi[1]));
280	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(dataRevoluteUnbounded.liMi[1].isApprox(dataRX.liMi[1]));
281	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(dataRevoluteUnbounded.Ycrb[1].matrix().isApprox(dataRX.Ycrb[1].matrix()));
282	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(dataRevoluteUnbounded.f[1].toVector().isApprox(dataRX.f[1].toVector()));
283
284	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(dataRevoluteUnbounded.nle.isApprox(dataRX.nle));
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 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(dataRevoluteUnbounded.com[0].isApprox(dataRX.com[0]));
286
287			// InverseDynamics == rnea
288	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	tauRX = rnea(modelRX, dataRX, q_rx, v_rx, aRX);
289			tauRevoluteUnbounded =
290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	rnea(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx, aRevoluteUnbounded);
291
292	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(tauRX.isApprox(tauRevoluteUnbounded));
293
294			// ForwardDynamics == aba
295	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Eigen::VectorXd aAbaRX = aba(modelRX, dataRX, q_rx, v_rx, tauRX, Convention::WORLD);
296	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd aAbaRevoluteUnbounded = aba(
297			modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx, tauRevoluteUnbounded,
298	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Convention::WORLD);
299
300	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(aAbaRX.isApprox(aAbaRevoluteUnbounded));
301
302			// crba
303	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRX, dataRX, q_rx, Convention::WORLD);
304	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, Convention::WORLD);
305
306	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(dataRX.M.isApprox(dataRevoluteUnbounded.M));
307
308			// Jacobian
309	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPX;
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPX.resize(6, 1);
311	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPX.setZero();
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPrismaticUnaligned;
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPrismaticUnaligned.resize(6, 1);
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	jacobianPrismaticUnaligned.setZero();
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRX, dataRX, q_rx);
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	computeJointJacobians(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx);
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(modelRX, dataRX, 1, LOCAL, jacobianPX);
318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	getJointJacobian(
319			modelRevoluteUnbounded, dataRevoluteUnbounded, 1, LOCAL, jacobianPrismaticUnaligned);
320
321	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));
322		2	}
323			BOOST_AUTO_TEST_SUITE_END()
324
325			BOOST_AUTO_TEST_SUITE(JointRevolute)
326
327	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(spatial)
328			{
329			typedef TransformRevoluteTpl<double, 0, 0> TransformX;
330			typedef TransformRevoluteTpl<double, 0, 1> TransformY;
331			typedef TransformRevoluteTpl<double, 0, 2> TransformZ;
332
333			typedef SE3::Vector3 Vector3;
334
335		2	const double alpha = 0.2;
336			double sin_alpha, cos_alpha;
337		2	SINCOS(alpha, &sin_alpha, &cos_alpha);
338	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());
339
340		2	TransformX Mx(sin_alpha, cos_alpha);
341	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = Mx;
342	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.translation().isZero());
343	11/22 ✓ 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 33 taken 1 times. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(
344			Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitX()).toRotationMatrix()));
345	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));
346
347		2	TransformY My(sin_alpha, cos_alpha);
348	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = My;
349	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.translation().isZero());
350	11/22 ✓ 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 33 taken 1 times. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(
351			Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitY()).toRotationMatrix()));
352	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));
353
354		2	TransformZ Mz(sin_alpha, cos_alpha);
355	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Mplain = Mz;
356	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.translation().isZero());
357	11/22 ✓ 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 33 taken 1 times. ✗ Branch 34 not taken. ✗ Branch 38 not taken. ✓ Branch 39 taken 1 times.	2	BOOST_CHECK(
358			Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitZ()).toRotationMatrix()));
359	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));
360
361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
363
364		2	MotionRevoluteTpl<double, 0, 0> mp_x(2.);
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_x(mp_x);
366
367	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)));
368	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)));
369
370	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)));
371
372		2	MotionRevoluteTpl<double, 0, 1> mp_y(2.);
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_y(mp_y);
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(M.act(mp_y).isApprox(M.act(mp_dense_y)));
376	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)));
377
378	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_y).isApprox(v.cross(mp_dense_y)));
379
380		2	MotionRevoluteTpl<double, 0, 2> mp_z(2.);
381	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense_z(mp_z);
382
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(M.act(mp_z).isApprox(M.act(mp_dense_z)));
384	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)));
385
386	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_z).isApprox(v.cross(mp_dense_z)));
387		2	}
388
389			BOOST_AUTO_TEST_SUITE_END()
390
391			BOOST_AUTO_TEST_SUITE(JointRevoluteUnaligned)
392
393	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(spatial)
394			{
395	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SE3 M(SE3::Random());
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v(Motion::Random());
397
398	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	MotionRevoluteUnaligned mp(MotionRevoluteUnaligned::Vector3(1., 2., 3.), 6.);
399	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion mp_dense(mp);
400
401	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)));
402	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)));
403
404	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)));
405		2	}
406
407			BOOST_AUTO_TEST_SUITE_END()
408