GCC Code Coverage Report

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

	Exec	Total	Coverage
Lines:	154	154	100.0%
Branches:	698	1384	50.4%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018-2019 CNRS INRIA
3			//
4
5			#include "pinocchio/multibody/model.hpp"
6			#include "pinocchio/multibody/data.hpp"
7			#include "pinocchio/algorithm/kinematics.hpp"
8			#include "pinocchio/algorithm/crba.hpp"
9			#include "pinocchio/algorithm/joint-configuration.hpp"
10			#include "pinocchio/multibody/sample-models.hpp"
11
12			#include <iostream>
13
14			#include <boost/test/unit_test.hpp>
15			#include <boost/utility/binary.hpp>
16
17			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
18
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20			{
21			using namespace Eigen;
22			using namespace pinocchio;
23
24	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
25	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
26
27	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
28
29	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
30	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
31	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
32
33	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	forwardKinematics(model, data, Model::ConfigVectorType::Ones(model.nq));
34		2	}
35
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37			{
38			using namespace Eigen;
39			using namespace pinocchio;
40
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
43
44	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Data data(model), data_ref(model);
45
46	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
47	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
49
50	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data_ref, q);
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	crba(model, data, q, Convention::WORLD);
52	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	updateGlobalPlacements(model, data);
53
54	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
55			{
56	7/14 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 27 times.	54	BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]);
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58			}
59		2	}
60
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62			{
63			using namespace Eigen;
64			using namespace pinocchio;
65
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
68
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
70
71	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
72	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
74	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Zero(model.nv));
75
76	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
77
78	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
79			{
80	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(data.v[i] == Motion::Zero());
81			}
82		2	}
83
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85			{
86			using namespace Eigen;
87			using namespace pinocchio;
88
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
91
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
93
94	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
95	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
97	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Zero(model.nv));
98	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Zero(model.nv));
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
101
102	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
103			{
104	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(data.v[i] == Motion::Zero());
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106			}
107		2	}
108
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110			{
111			using namespace Eigen;
112			using namespace pinocchio;
113
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
116
117	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
118
119	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
120	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
121	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
122	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
123
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v);
125
126	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
127			{
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132			.act(data.v[i])
133			.isApprox(getVelocity(model, data, i, LOCAL_WORLD_ALIGNED)));
134			}
135		2	}
136
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138			{
139			using namespace Eigen;
140			using namespace pinocchio;
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
143	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
144
145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
146
147	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
148	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
150	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
151	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
152
153	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
154
155	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
156			{
157	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i)));
158	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 27 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 27 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✗ Branch 30 not taken. ✓ Branch 31 taken 27 times.	54	BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i, LOCAL)));
159	9/18 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken. ✓ Branch 20 taken 27 times. ✗ Branch 21 not taken. ✓ Branch 23 taken 27 times. ✗ Branch 24 not taken. ✓ Branch 26 taken 27 times. ✗ Branch 27 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✗ Branch 34 not taken. ✓ Branch 35 taken 27 times.	54	BOOST_CHECK(data.oMi[i].act(data.a[i]).isApprox(getAcceleration(model, data, i, WORLD)));
160	12/24 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 27 times. ✗ Branch 15 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 25 taken 27 times. ✗ Branch 26 not taken. ✓ Branch 29 taken 27 times. ✗ Branch 30 not taken. ✓ Branch 32 taken 27 times. ✗ Branch 33 not taken. ✓ Branch 35 taken 27 times. ✗ Branch 36 not taken. ✓ Branch 38 taken 27 times. ✗ Branch 39 not taken. ✗ Branch 43 not taken. ✓ Branch 44 taken 27 times.	54	BOOST_CHECK(SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero())
161			.act(data.a[i])
162			.isApprox(getAcceleration(model, data, i, LOCAL_WORLD_ALIGNED)));
163			}
164		2	}
165
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167			{
168			using namespace Eigen;
169			using namespace pinocchio;
170
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	buildModels::humanoidRandom(model);
173
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
175
176	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.lowerPositionLimit.head<3>().fill(-1.);
177	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	model.upperPositionLimit.head<3>().fill(1.);
178	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q = randomConfiguration(model);
179	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd v(VectorXd::Random(model.nv));
180	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	VectorXd a(VectorXd::Random(model.nv));
181
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
183
184	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 times.	56	for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i)
185			{
186	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	SE3 T = data.oMi[i];
187	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	Motion vel = data.v[i];
188	1/2 ✓ Branch 2 taken 27 times. ✗ Branch 3 not taken.	54	Motion acc = data.a[i];
189	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Vector3d linear;
190
191	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion acc_classical_local = acc;
192	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc.linear() + vel.angular().cross(vel.linear());
193	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_local.linear() = linear;
194
195	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i)));
196	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i, LOCAL)));
197
198	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion vel_world = T.act(vel);
199	1/2 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken.	54	Motion acc_classical_world = T.act(acc);
200	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc_classical_world.linear() + vel_world.angular().cross(vel_world.linear());
201	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_world.linear() = linear;
202
203	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_world.isApprox(getClassicalAcceleration(model, data, i, WORLD)));
204
205	4/8 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	Motion vel_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(vel);
206	4/8 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 27 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken.	54	Motion acc_classical_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(acc);
207	6/12 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 27 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 27 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 27 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 27 times. ✗ Branch 17 not taken.	54	linear = acc_classical_aligned.linear() + vel_aligned.angular().cross(vel_aligned.linear());
208	2/4 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 27 times. ✗ Branch 5 not taken.	54	acc_classical_aligned.linear() = linear;
209
210	8/16 ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 27 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 27 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 27 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 27 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 27 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 27 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 27 times.	54	BOOST_CHECK(acc_classical_aligned.isApprox(
211			getClassicalAcceleration(model, data, i, LOCAL_WORLD_ALIGNED)));
212			}
213		2	}
214
215	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_kinematic_getters)
216			{
217			using namespace Eigen;
218			using namespace pinocchio;
219
220			// Build a simple 2R planar model
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Model model;
222		2	JointIndex jointId = 0;
223	5/10 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken.	2	jointId = model.addJoint(jointId, JointModelRZ(), SE3::Identity(), "Joint1");
224	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.	6	jointId = model.addJoint(
225	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.	4	jointId, JointModelRZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2");
226
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Data data(model);
228
229			// Predetermined configuration values
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd q(model.nq);
231	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	q << M_PI / 2.0, 0.0;
232
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd v(model.nv);
234	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	v << 1.0, 0.0;
235
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorXd a(model.nv);
237	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	a << 0.0, 0.0;
238
239			// Expected velocity
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_local;
241	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_local.linear() = Vector3d(0.0, 1.0, 0.0);
242	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_local.angular() = Vector3d(0.0, 0.0, 1.0);
243
244	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_world;
245	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_world.linear() = Vector3d::Zero();
246	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_world.angular() = Vector3d(0.0, 0.0, 1.0);
247
248	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion v_align;
249	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_align.linear() = Vector3d(-1.0, 0.0, 0.0);
250	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	v_align.angular() = Vector3d(0.0, 0.0, 1.0);
251
252			// Expected classical acceleration
253	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_local;
254	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	ac_local.linear() = Vector3d(-1.0, 0.0, 0.0);
255	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	ac_local.angular() = Vector3d::Zero();
256
257	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_world = Motion::Zero();
258
259	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Motion ac_align;
260	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ac_align.linear() = Vector3d(0.0, -1.0, 0.0);
261	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	ac_align.angular() = Vector3d::Zero();
262
263			// Perform kinematics
264	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	forwardKinematics(model, data, q, v, a);
265
266			// Check output velocity
267	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_local.isApprox(getVelocity(model, data, jointId)));
268	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_local.isApprox(getVelocity(model, data, jointId, LOCAL)));
269	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_world.isApprox(getVelocity(model, data, jointId, WORLD)));
270	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(v_align.isApprox(getVelocity(model, data, jointId, LOCAL_WORLD_ALIGNED)));
271
272			// Check output acceleration (all zero)
273	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(getAcceleration(model, data, jointId).isZero());
274	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(getAcceleration(model, data, jointId, LOCAL).isZero());
275	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(getAcceleration(model, data, jointId, WORLD).isZero());
276	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(getAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED).isZero());
277
278			// Check output classical
279	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_local.isApprox(getClassicalAcceleration(model, data, jointId)));
280	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_local.isApprox(getClassicalAcceleration(model, data, jointId, LOCAL)));
281	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(ac_world.isApprox(getClassicalAcceleration(model, data, jointId, WORLD)));
282	8/16 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 1 times. ✗ Branch 25 not taken. ✗ Branch 29 not taken. ✓ Branch 30 taken 1 times.	2	BOOST_CHECK(
283			ac_align.isApprox(getClassicalAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED)));
284		2	}
285
286			BOOST_AUTO_TEST_SUITE_END()
287